magnes::Quaternion Class Reference

quaternion representation More...

#include <coordinate.h>

Public Member Functions
	Quaternion ()
	Quaternion (double scalar, const Coordinate &c)
Coordinate &	V ()
const Coordinate &	V () const
float &	W ()
const float &	W () const
float	Norm () const
Quaternion	Invert () const
Quaternion	operator^ (const Quaternion &q)
Quaternion	operator^ (const Coordinate &c)
void	Normalize ()
void	GLMatrix (D2Array< float > &glmatrix)
void	RotationMatrix (D2Array< float > &rotmatrix)
void	RotationMatrix (D2Array< double > &rotmatrix)

Static Public Member Functions
static Quaternion	FromRotationAxis (float angle, const Coordinate &rv)

Detailed Description

quaternion representation

an utlilty class for management of quaternions each quaternion is represented as combination of a Coordinate v and an scalar w

Constructor & Destructor Documentation

Quaternion() [1/2]

magnes::Quaternion::Quaternion ( )

inline

Built quaternion(0,Coordinate(0,0,0))

Quaternion() [2/2]

magnes::Quaternion::Quaternion ( double  scalar, const Coordinate &  c  )

inline

Built quaternion (scalar,Coordiante(x,y,z))

Member Function Documentation

GLMatrix()

void magnes::Quaternion::GLMatrix ( D2Array< float > &  glmatrix )

inline

return the opengl rotation matrix

Invert()

Quaternion magnes::Quaternion::Invert ( ) const

inline

invert the quaternion

References magnes::Coordinate::x(), magnes::Coordinate::y(), and magnes::Coordinate::z().

Norm()

float magnes::Quaternion::Norm ( ) const

inline

Returns

the norm of the quaternion

operator^() [1/2]

Quaternion magnes::Quaternion::operator^ ( const Quaternion &  q )

inline

quaternion-quaternion vectorial product

References magnes::Coordinate::x(), magnes::Coordinate::y(), and magnes::Coordinate::z().

operator^() [2/2]

Quaternion magnes::Quaternion::operator^ ( const Coordinate &  c )

inline

quaternion-vector product

References magnes::Coordinate::Normalize(), V(), W(), magnes::Coordinate::x(), magnes::Coordinate::y(), and magnes::Coordinate::z().

RotationMatrix()

void magnes::Quaternion::RotationMatrix ( D2Array< float > &  rotmatrix )

inline

return a 3D rotation matrix

V() [1/2]

Coordinate& magnes::Quaternion::V ( )

inline

Returns

3d coordinate part v of the quaternion

Referenced by magnes::operator<<(), and operator^().

V() [2/2]

const Coordinate& magnes::Quaternion::V ( ) const

inline

Returns

3d coordinate part v of the quaternion

W() [1/2]

float& magnes::Quaternion::W ( )

inline

Returns

scalar component w of the quaternion

Referenced by magnes::operator<<(), and operator^().

W() [2/2]

const float& magnes::Quaternion::W ( ) const

inline

Returns

scalar component w of the quaternion

---

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

• /Users/armando/worksrc/magnes-code/trunk/magnes/core/coordinate.h