#include <Geometry.h>

Public Member Functions
void	FromAngleAxis (kt_double angleInRadians, const karto::Vector3d &rAxis)

void	FromEulerAngles (kt_double yaw, kt_double pitch, kt_double roll)

const Vector4d	GetAsVector4 () const

kt_double	GetW () const

kt_double	GetX () const

kt_double	GetY () const

kt_double	GetZ () const

kt_double	Length () const

kt_double	Norm () const

void	Normalize ()

kt_bool	operator!= (const Quaternion &rOther) const

const Quaternion	operator* (const Quaternion &rOther) const

karto::Vector3d	operator* (const karto::Vector3d &rVector) const

Quaternion &	operator= (const Quaternion &rOther)

kt_bool	operator== (const Quaternion &rOther) const

	Quaternion ()

	Quaternion (kt_double x, kt_double y, kt_double z, kt_double w)

	Quaternion (const Vector4d &rVector)

	Quaternion (const Quaternion &rOther)

void	SetW (kt_double w)

void	SetX (kt_double x)

void	SetY (kt_double y)

void	SetZ (kt_double z)

void	ToAngleAxis (kt_double &rAngle, karto::Vector3d &rAxis) const

void	ToEulerAngles (kt_double &rYaw, kt_double &rPitch, kt_double &rRoll) const

const String	ToString () const

Private Attributes
kt_double	m_Values [4]

Friends
KARTO_FORCEINLINE std::ostream &	operator<< (std::ostream &rStream, const Quaternion &rQuaternion)

Detailed Description

Defines an orientation as a quaternion rotation using the positive Z axis as the zero reference.
Q = w + ix + jy + kz
w = c_1 * c_2 * c_3 - s_1 * s_2 * s_3
x = s_1 * s_2 * c_3 + c_1 * c_2 * s_3
y = s_1 * c_2 * c_3 + c_1 * s_2 * s_3
z = c_1 * s_2 * c_3 - s_1 * c_2 * s_3
where
c_1 = cos(theta/2)
c_2 = cos(phi/2)
c_3 = cos(psi/2)
s_1 = sin(theta/2)
s_2 = sin(phi/2)
s_3 = sin(psi/2)
and
theta is the angle of rotation about the Y axis measured from the Z axis.
phi is the angle of rotation about the Z axis measured from the X axis.
psi is the angle of rotation about the X axis measured from the Y axis.
(All angles are right-handed.)

Definition at line 1307 of file Geometry.h.

Constructor & Destructor Documentation

karto::Quaternion::Quaternion ( )

inline

Quaternion with default (x=0, y=0, z=0, w=1) values

Definition at line 1313 of file Geometry.h.

karto::Quaternion::Quaternion	(	kt_double	x,
		kt_double	y,
		kt_double	z,
		kt_double	w
	)

inline

Quaternion using given x, y, z, w values.

Parameters

x	x
y	y
z	z
w	w

Definition at line 1328 of file Geometry.h.

karto::Quaternion::Quaternion ( const Vector4d & rVector )

inline

Quaternion from given Vector4d

Definition at line 1339 of file Geometry.h.

karto::Quaternion::Quaternion ( const Quaternion & rOther )

inline

Copy constructor

Definition at line 1350 of file Geometry.h.

Member Function Documentation

void karto::Quaternion::FromAngleAxis	(	kt_double	angleInRadians,
		const karto::Vector3d &	rAxis
	)

Computes the equivalent quaternion from the given angle-axis form

Definition at line 118 of file Geometry.cpp.

void karto::Quaternion::FromEulerAngles	(	kt_double	yaw,
		kt_double	pitch,
		kt_double	roll
	)

Set x,y,z,w values of the quaternion based on Euler angles. Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/eulerToQuaternion/index.htm

Parameters

yaw	yaw
pitch	pitch
roll	roll

Definition at line 170 of file Geometry.cpp.

const Vector4d karto::Quaternion::GetAsVector4 ( ) const

inline

This quaternion as a 4D vector

Returns: 4D vector representation of this quaternion

Definition at line 1435 of file Geometry.h.

kt_double karto::Quaternion::GetW ( ) const

inline

Returns the w-value

Returns: the w-value of this quaternion

Definition at line 1417 of file Geometry.h.

kt_double karto::Quaternion::GetX ( ) const

inline

Returns the x-value

Returns: the x-value of this quaternion

Definition at line 1363 of file Geometry.h.

kt_double karto::Quaternion::GetY ( ) const

inline

Returns the y-value

Returns: the y-value of this quaternion

Definition at line 1381 of file Geometry.h.

kt_double karto::Quaternion::GetZ ( ) const

inline

Returns the z-value

Returns: the z-value of this quaternion

Definition at line 1399 of file Geometry.h.

kt_double karto::Quaternion::Length ( ) const

inline

Length of this quaternion

Returns: length of this quaternion

Definition at line 1474 of file Geometry.h.

kt_double karto::Quaternion::Norm ( ) const

inline

Returns the norm of this quaternion

Returns: norm of this quaternion

Definition at line 1483 of file Geometry.h.

void karto::Quaternion::Normalize ( )

inline

Normalize the quaternion

Definition at line 1491 of file Geometry.h.

kt_bool karto::Quaternion::operator!= ( const Quaternion & rOther ) const

inline

Inequality operator

Definition at line 1548 of file Geometry.h.

const Quaternion karto::Quaternion::operator* ( const Quaternion & rOther ) const

inline

Quaternion multiplication; note that quaternion multiplication is not commutative (a * b != b * a)

Definition at line 1528 of file Geometry.h.

karto::Vector3d karto::Quaternion::operator* ( const karto::Vector3d & rVector ) const

inline

Rotate a vector by this quaternion

Parameters

rVector vector

Returns: result of multiplying this quaternion by the given vector

Definition at line 1558 of file Geometry.h.

Quaternion& karto::Quaternion::operator= ( const Quaternion & rOther )

inline

Assignment operator

Definition at line 1515 of file Geometry.h.

kt_bool karto::Quaternion::operator== ( const Quaternion & rOther ) const

inline

Equality operator

Definition at line 1540 of file Geometry.h.

void karto::Quaternion::SetW ( kt_double w )

inline

Sets the w-value

Parameters

w w-value

Definition at line 1426 of file Geometry.h.

void karto::Quaternion::SetX ( kt_double x )

inline

Sets the x-value

Parameters

x x-value

Definition at line 1372 of file Geometry.h.

void karto::Quaternion::SetY ( kt_double y )

inline

Sets the y-value

Parameters

y y-value

Definition at line 1390 of file Geometry.h.

void karto::Quaternion::SetZ ( kt_double z )

inline

Sets the z-value

Parameters

z z-value

Definition at line 1408 of file Geometry.h.

void karto::Quaternion::ToAngleAxis	(	kt_double &	rAngle,
		karto::Vector3d &	rAxis
	)		const

This quaternion in angle-axis form

Parameters

rAngle	output parameter angle
rAxis	output parameter axis

Definition at line 94 of file Geometry.cpp.

void karto::Quaternion::ToEulerAngles	(	kt_double &	rYaw,
		kt_double &	rPitch,
		kt_double &	rRoll
	)		const

Converts this quaternion into Euler angles Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.htm

Parameters

rYaw	yaw
rPitch	pitch
rRoll	roll

Definition at line 140 of file Geometry.cpp.

const String karto::Quaternion::ToString ( ) const

String representation of this quaternion

Returns: string representation of this quaternion

Definition at line 192 of file Geometry.cpp.

Friends And Related Function Documentation

KARTO_FORCEINLINE std::ostream& operator<<	(	std::ostream &	rStream,
		const Quaternion &	rQuaternion
	)

friend

Write this quaternion onto output stream

Definition at line 1576 of file Geometry.h.

Member Data Documentation

kt_double karto::Quaternion::m_Values[4]

private

Definition at line 1583 of file Geometry.h.

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

Public Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation