belfem::Quaternion< T > Class Template Reference

Scalar-first quaternion value type for 3D rotations. More...

#include <cl_Quaternion.hpp>

Public Member Functions
	Quaternion ()
	Quaternion (T a, T b, T c, T d)
	Quaternion (const Vector< T > &aVector)
	Quaternion (const Vector< T > &aAxis, const T aAngle)
	Construct a rotation quaternion from axis and angle.
T *	data ()
const T *	data () const
T &	a ()
const T &	a () const
T &	b ()
const T &	b () const
T &	c ()
const T &	c () const
T &	d ()
const T &	d () const
T *	begin ()
const T *	begin () const
T *	end ()
const T *	end () const
Quaternion &	operator= (std::initializer_list< T > initList)
Quaternion &	operator+= (const Quaternion &aOther)
Quaternion &	operator-= (const Quaternion &aOther)
Quaternion &	operator*= (T aScalar)
Quaternion &	operator/= (T aScalar)
Quaternion &	operator*= (const Quaternion &aOther)
T	norm () const
Quaternion< T >	conj () const
Quaternion< T >	inv () const
Quaternion< T > &	normalize ()
Vector< T >	rotate (const Vector< T > &aVector) const
	Rotate a 3D vector by this unit quaternion.

Static Public Member Functions
static Quaternion	identity ()

Detailed Description

template<typename T>
class belfem::Quaternion< T >

Scalar-first quaternion value type for 3D rotations.

See also

Quaternion Usage Guide

Constructor & Destructor Documentation

Quaternion() [1/4]

template<typename T>

belfem::Quaternion< T >::Quaternion ( )

inline

Quaternion() [2/4]

template<typename T>

belfem::Quaternion< T >::Quaternion ( T a, T b, T c, T d )

inline

Quaternion() [3/4]

template<typename T>

belfem::Quaternion< T >::Quaternion ( const Vector< T > & aVector )

inline

Quaternion() [4/4]

template<typename T>

belfem::Quaternion< T >::Quaternion ( const Vector< T > & aAxis, const T aAngle )

inline

Construct a rotation quaternion from axis and angle.

Parameters

aAxis	The rotation axis (will be normalized internally)
aAngle	The rotation angle in radians

Member Function Documentation

a() [1/2]

template<typename T>

T & belfem::Quaternion< T >::a ( )

inline

a() [2/2]

template<typename T>

const T & belfem::Quaternion< T >::a ( ) const

inline

b() [1/2]

template<typename T>

T & belfem::Quaternion< T >::b ( )

inline

b() [2/2]

template<typename T>

const T & belfem::Quaternion< T >::b ( ) const

inline

begin() [1/2]

template<typename T>

T * belfem::Quaternion< T >::begin ( )

inline

begin() [2/2]

template<typename T>

const T * belfem::Quaternion< T >::begin ( ) const

inline

c() [1/2]

template<typename T>

T & belfem::Quaternion< T >::c ( )

inline

c() [2/2]

template<typename T>

const T & belfem::Quaternion< T >::c ( ) const

inline

conj()

template<typename T>

Quaternion< T > belfem::Quaternion< T >::conj ( ) const

inline

d() [1/2]

template<typename T>

T & belfem::Quaternion< T >::d ( )

inline

d() [2/2]

template<typename T>

const T & belfem::Quaternion< T >::d ( ) const

inline

data() [1/2]

template<typename T>

T * belfem::Quaternion< T >::data ( )

inline

data() [2/2]

template<typename T>

const T * belfem::Quaternion< T >::data ( ) const

inline

end() [1/2]

template<typename T>

T * belfem::Quaternion< T >::end ( )

inline

end() [2/2]

template<typename T>

const T * belfem::Quaternion< T >::end ( ) const

inline

identity()

template<typename T>

Quaternion belfem::Quaternion< T >::identity ( )

inlinestatic

inv()

template<typename T>

Quaternion< T > belfem::Quaternion< T >::inv ( ) const

inline

norm()

template<typename T>

T belfem::Quaternion< T >::norm ( ) const

inline

normalize()

template<typename T>

Quaternion< T > & belfem::Quaternion< T >::normalize ( )

inline

operator*=() [1/2]

template<typename T>

Quaternion & belfem::Quaternion< T >::operator*= ( const Quaternion< T > & aOther )

inline

operator*=() [2/2]

template<typename T>

Quaternion & belfem::Quaternion< T >::operator*= ( T aScalar )

inline

operator+=()

template<typename T>

Quaternion & belfem::Quaternion< T >::operator+= ( const Quaternion< T > & aOther )

inline

operator-=()

template<typename T>

Quaternion & belfem::Quaternion< T >::operator-= ( const Quaternion< T > & aOther )

inline

operator/=()

template<typename T>

Quaternion & belfem::Quaternion< T >::operator/= ( T aScalar )

inline

operator=()

template<typename T>

Quaternion & belfem::Quaternion< T >::operator= ( std::initializer_list< T > initList )

inline

rotate()

template<typename T>

Vector< T > belfem::Quaternion< T >::rotate ( const Vector< T > & aVector ) const

inline

Rotate a 3D vector by this unit quaternion.

Parameters

aVector

The vector to rotate (must have length 3)

Returns

The rotated vector

Uses the formula: v' = q * v * q* (conjugate) Requires a unit quaternion.

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

• src/math/quaternion/cl_Quaternion.hpp