tf2::Quaternion Class Reference

The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform. More...

#include <Quaternion.h>

List of all members.

Public Member Functions
tf2Scalar	angle (const Quaternion &q) const
	Return the ***half*** angle between this quaternion and the other.
tf2Scalar	angleShortestPath (const Quaternion &q) const
	Return the angle between this quaternion and the other along the shortest path.
tf2Scalar	dot (const Quaternion &q) const
	Return the dot product between this quaternion and another.
TF2SIMD_FORCE_INLINE Quaternion	farthest (const Quaternion &qd) const
tf2Scalar	getAngle () const
	Return the angle [0, 2Pi] of rotation represented by this quaternion.
tf2Scalar	getAngleShortestPath () const
	Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.
Vector3	getAxis () const
	Return the axis of the rotation represented by this quaternion.
TF2SIMD_FORCE_INLINE const tf2Scalar &	getW () const
Quaternion	inverse () const
	Return the inverse of this quaternion.
tf2Scalar	length () const
	Return the length of the quaternion.
tf2Scalar	length2 () const
	Return the length squared of the quaternion.
TF2SIMD_FORCE_INLINE Quaternion	nearest (const Quaternion &qd) const
Quaternion &	normalize ()
	Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.
Quaternion	normalized () const
	Return a normalized version of this quaternion.
TF2SIMD_FORCE_INLINE Quaternion	operator* (const tf2Scalar &s) const
	Return a scaled version of this quaternion.
Quaternion &	operator*= (const tf2Scalar &s)
	Scale this quaternion.
Quaternion &	operator*= (const Quaternion &q)
	Multiply this quaternion by q on the right.
TF2SIMD_FORCE_INLINE Quaternion	operator+ (const Quaternion &q2) const
	Return the sum of this quaternion and the other.
TF2SIMD_FORCE_INLINE Quaternion &	operator+= (const Quaternion &q)
	Add two quaternions.
TF2SIMD_FORCE_INLINE Quaternion	operator- (const Quaternion &q2) const
	Return the difference between this quaternion and the other.
TF2SIMD_FORCE_INLINE Quaternion	operator- () const
	Return the negative of this quaternion This simply negates each element.
Quaternion &	operator-= (const Quaternion &q)
	Sutf2ract out a quaternion.
Quaternion	operator/ (const tf2Scalar &s) const
	Return an inversely scaled versionof this quaternion.
Quaternion &	operator/= (const tf2Scalar &s)
	Inversely scale this quaternion.
	Quaternion ()
	No initialization constructor.
	Quaternion (const tf2Scalar &x, const tf2Scalar &y, const tf2Scalar &z, const tf2Scalar &w)
	Constructor from scalars.
	Quaternion (const Vector3 &axis, const tf2Scalar &angle)
	Axis angle Constructor.
	Quaternion (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll) __attribute__((deprecated))
	Constructor from Euler angles.
void	setEuler (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll)
	Set the quaternion using Euler angles.
void	setEulerZYX (const tf2Scalar &yaw, const tf2Scalar &pitch, const tf2Scalar &roll) __attribute__((deprecated))
	Set the quaternion using euler angles.
void	setRotation (const Vector3 &axis, const tf2Scalar &angle)
	Set the rotation using axis angle notation.
void	setRPY (const tf2Scalar &roll, const tf2Scalar &pitch, const tf2Scalar &yaw)
	Set the quaternion using fixed axis RPY.
Quaternion	slerp (const Quaternion &q, const tf2Scalar &t) const
	Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.
Static Public Member Functions
static const Quaternion &	getIdentity ()

---

Detailed Description

The Quaternion implements quaternion to perform linear algebra rotations in combination with Matrix3x3, Vector3 and Transform.

Definition at line 28 of file Quaternion.h.

---

Constructor & Destructor Documentation

tf2::Quaternion::Quaternion

(

)

[inline]

No initialization constructor.

Definition at line 31 of file Quaternion.h.

tf2::Quaternion::Quaternion	(	const tf2Scalar &	x,
		const tf2Scalar &	y,
		const tf2Scalar &	z,
		const tf2Scalar &	w
	)		[inline]

Constructor from scalars.

Definition at line 36 of file Quaternion.h.

tf2::Quaternion::Quaternion	(	const Vector3 &	axis,
		const tf2Scalar &	angle
	)		[inline]

Axis angle Constructor.

Parameters:

axis	The axis which the rotation is around
angle	The magnitude of the rotation around the angle (Radians)

Definition at line 42 of file Quaternion.h.

tf2::Quaternion::Quaternion	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	roll
	)		[inline]

Constructor from Euler angles.

Parameters:

yaw	Angle around Y unless TF2_EULER_DEFAULT_ZYX defined then Z
pitch	Angle around X unless TF2_EULER_DEFAULT_ZYX defined then Y
roll	Angle around Z unless TF2_EULER_DEFAULT_ZYX defined then X

Definition at line 50 of file Quaternion.h.

---

Member Function Documentation

tf2Scalar tf2::Quaternion::angle

(

const Quaternion &

q

)

const [inline]

Return the ***half*** angle between this quaternion and the other.

Parameters:

q	The other quaternion

Definition at line 210 of file Quaternion.h.

tf2Scalar tf2::Quaternion::angleShortestPath

(

const Quaternion &

q

)

const [inline]

Return the angle between this quaternion and the other along the shortest path.

Parameters:

q	The other quaternion

Definition at line 218 of file Quaternion.h.

tf2Scalar tf2::Quaternion::dot

(

const Quaternion &

q

)

const [inline]

Return the dot product between this quaternion and another.

Parameters:

q	The other quaternion

Definition at line 154 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::farthest

(

const Quaternion &

qd

)

const [inline]

Todo:

document this and it's use

Definition at line 288 of file Quaternion.h.

tf2Scalar tf2::Quaternion::getAngle

(

)

const [inline]

Return the angle [0, 2Pi] of rotation represented by this quaternion.

Definition at line 228 of file Quaternion.h.

tf2Scalar tf2::Quaternion::getAngleShortestPath

(

)

const [inline]

Return the angle [0, Pi] of rotation represented by this quaternion along the shortest path.

Definition at line 235 of file Quaternion.h.

Vector3 tf2::Quaternion::getAxis

(

)

const [inline]

Return the axis of the rotation represented by this quaternion.

Definition at line 247 of file Quaternion.h.

static const Quaternion& tf2::Quaternion::getIdentity

(

)

[inline, static]

Definition at line 340 of file Quaternion.h.

TF2SIMD_FORCE_INLINE const tf2Scalar& tf2::Quaternion::getW

(

)

const [inline]

Definition at line 346 of file Quaternion.h.

Quaternion tf2::Quaternion::inverse

(

)

const [inline]

Return the inverse of this quaternion.

Definition at line 257 of file Quaternion.h.

tf2Scalar tf2::Quaternion::length

(

)

const [inline]

Return the length of the quaternion.

Definition at line 166 of file Quaternion.h.

tf2Scalar tf2::Quaternion::length2

(

)

const [inline]

Return the length squared of the quaternion.

Definition at line 160 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::nearest

(

const Quaternion &

qd

)

const [inline]

Todo:

document this and it's use

Definition at line 299 of file Quaternion.h.

Quaternion& tf2::Quaternion::normalize

(

)

[inline]

Normalize the quaternion Such that x^2 + y^2 + z^2 +w^2 = 1.

Definition at line 173 of file Quaternion.h.

Quaternion tf2::Quaternion::normalized

(

)

const [inline]

Return a normalized version of this quaternion.

Definition at line 204 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::operator*

(

const tf2Scalar &

s

)

const [inline]

Return a scaled version of this quaternion.

Parameters:

s	The scale factor

Definition at line 181 of file Quaternion.h.

Quaternion& tf2::Quaternion::operator*=

(

const tf2Scalar &

s

)

[inline]

Scale this quaternion.

Parameters:

s	The scalar to scale by

Definition at line 135 of file Quaternion.h.

Quaternion& tf2::Quaternion::operator*=

(

const Quaternion &

q

)

[inline]

Multiply this quaternion by q on the right.

Parameters:

q	The other quaternion Equivilant to this = this * q

Definition at line 144 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::operator+

(

const Quaternion &

q2

)

const [inline]

Return the sum of this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 265 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion& tf2::Quaternion::operator+=

(

const Quaternion &

q

)

[inline]

Add two quaternions.

Parameters:

q	The quaternion to add to this one

Definition at line 119 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::operator-

(

const Quaternion &

q2

)

const [inline]

Return the difference between this quaternion and the other.

Parameters:

q2	The other quaternion

Definition at line 274 of file Quaternion.h.

TF2SIMD_FORCE_INLINE Quaternion tf2::Quaternion::operator-

(

)

const [inline]

Return the negative of this quaternion This simply negates each element.

Definition at line 282 of file Quaternion.h.

Quaternion& tf2::Quaternion::operator-=

(

const Quaternion &

q

)

[inline]

Sutf2ract out a quaternion.

Parameters:

q	The quaternion to sutf2ract from this one

Definition at line 127 of file Quaternion.h.

Quaternion tf2::Quaternion::operator/

(

const tf2Scalar &

s

)

const [inline]

Return an inversely scaled versionof this quaternion.

Parameters:

s	The inverse scale factor

Definition at line 189 of file Quaternion.h.

Quaternion& tf2::Quaternion::operator/=

(

const tf2Scalar &

s

)

[inline]

Inversely scale this quaternion.

Parameters:

s	The scale factor

Definition at line 197 of file Quaternion.h.

void tf2::Quaternion::setEuler	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	roll
	)		[inline]

Set the quaternion using Euler angles.

Parameters:

yaw	Angle around Y
pitch	Angle around X
roll	Angle around Z

Definition at line 73 of file Quaternion.h.

void tf2::Quaternion::setEulerZYX	(	const tf2Scalar &	yaw,
		const tf2Scalar &	pitch,
		const tf2Scalar &	roll
	)		[inline]

Set the quaternion using euler angles.

Parameters:

yaw	Angle around Z
pitch	Angle around Y
roll	Angle around X

Definition at line 113 of file Quaternion.h.

void tf2::Quaternion::setRotation	(	const Vector3 &	axis,
		const tf2Scalar &	angle
	)		[inline]

Set the rotation using axis angle notation.

Parameters:

axis	The axis around which to rotate
angle	The magnitude of the rotation in Radians

Definition at line 61 of file Quaternion.h.

void tf2::Quaternion::setRPY	(	const tf2Scalar &	roll,
		const tf2Scalar &	pitch,
		const tf2Scalar &	yaw
	)		[inline]

Set the quaternion using fixed axis RPY.

Parameters:

roll	Angle around X
pitch	Angle around Y
yaw	Angle around Z

Definition at line 93 of file Quaternion.h.

Quaternion tf2::Quaternion::slerp	(	const Quaternion &	q,
		const tf2Scalar &	t
	)		const [inline]

Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion.

Parameters:

q	The other quaternion to interpolate with
t	The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. Slerp interpolates assuming constant velocity.

Definition at line 314 of file Quaternion.h.

---

The documentation for this class was generated from the following file:

• Quaternion.h