class Quaternion

Public Methods

Quaternion()

Constructors / Destructors

Quaternion(const Vector3D &v)

Quaternion(const double qw, const Vector3D &qv)

Initialize from a general vector

~Quaternion()

Initialize from a scalar and a vector

Quaternion operator*(const Quaternion &q) const

Overloaded operators

Quaternion operator*(const double d) const

q1*q2: applies first rotation q2 and then, q1.

Quaternion& operator*=(const double d)

Quaternion operator/(const double d) const

Quaternion& operator /=(const double d)

Quaternion operator+(const Quaternion & q) const

Quaternion& operator+=(const Quaternion & q)

double getQi(int i) const

Misc

inline double getW(void) const

inline Vector3D getV(void) const

void SetfromZAxis(const Vector3D &e)

void SetfromAngleandAxis(const double angle, const Vector3D &qv, bool rad)

Initialize from angle of rotation and a general vector.

void SetfromEulerAngles(const double psi, const double theta, const double phi)

void Set(const double q0, const double q1, const double q2, const double q3 )

Initialize Quaternion from Euler Angles

void GetEulerAngles(double &psi, double &theta, double &phi)

Initialize from scalars

void GetOpenGLRotationMatrix(double* m)

Get Euler Angles from Quaternion [rad]

Quaternion Unit(void) const

void Unitize(void)

Quaternion& Unitize(void);

double Length(void) const

Vector3D RotateVector3D(const Vector3D &v) const

Quaternion& Randomize(double radius)

Quaternion Inverse(void) const

Quaternion Conjugate(void) const

double Norm(void) const

void Out(void) const

int ParseXML(xmlDocPtr doc, xmlNodePtr cur)

string GetXMLnode(string label) const

Private Fields

double w

Vector3D v

Angle of rotation around vector v

bool unitized

Axis of rotation

Documentation

Quaternion()

Constructors / Destructors

Quaternion(const Vector3D &v)

Quaternion(const double qw, const Vector3D &qv)

Initialize from a general vector

~Quaternion()

Initialize from a scalar and a vector

Quaternion operator*(const Quaternion &q) const

Overloaded operators

Quaternion operator*(const double d) const

q1*q2: applies first rotation q2 and then, q1. ¿?

Quaternion& operator*=(const double d)

Quaternion operator/(const double d) const

Quaternion& operator /=(const double d)

Quaternion operator+(const Quaternion & q) const

Quaternion& operator+=(const Quaternion & q)

double getQi(int i) const

Misc

inline double getW(void) const

inline Vector3D getV(void) const

void SetfromZAxis(const Vector3D &e)

void SetfromAngleandAxis(const double angle, const Vector3D &qv, bool rad)

Initialize from angle of rotation and a general vector. (angle in radians:rad=1, angle in degrees:rad=0)

void SetfromEulerAngles(const double psi, const double theta, const double phi)

void Set(const double q0, const double q1, const double q2, const double q3 )

Initialize Quaternion from Euler Angles

void GetEulerAngles(double &psi, double &theta, double &phi)

Initialize from scalars

void GetOpenGLRotationMatrix(double* m)

Get Euler Angles from Quaternion [rad]

Quaternion Unit(void) const

void Unitize(void)

Quaternion& Unitize(void);

double Length(void) const

Vector3D RotateVector3D(const Vector3D &v) const

Quaternion& Randomize(double radius)

Quaternion Inverse(void) const

Quaternion Conjugate(void) const

double Norm(void) const

void Out(void) const

int ParseXML(xmlDocPtr doc, xmlNodePtr cur)

string GetXMLnode(string label) const

double w

Vector3D v

Angle of rotation around vector v

bool unitized

Axis of rotation

This class has no child classes.

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