TQuaternion< T > Class Template Reference
[Quaternion]

Generic Quaternion Class. More...

#include <quaternion.h>

List of all members.

Public Member Functions
Constructors and Destructors
	TQuaternion () throw ()
	Default constructor.
	TQuaternion (const TQuaternion &q) throw ()
	Copy constructor.
	TQuaternion (const TVector3< T > &axis, const T &new_angle) throw ()
	Detailed constructor.
	TQuaternion (const T &x, const T &y, const T &z, const T &new_angle) throw ()
	Detailed constructor.
virtual	~TQuaternion () throw ()
	Destructor.
virtual void	clear () throw ()
	Clear method.
Assignment
void	set (const TQuaternion &q) throw ()
void	set (const TVector3< T > &axis, const T &new_angle) throw ()
	Assign the TQuaternion components.
void	set (const T &x, const T &y, const T &z, const T &new_angle) throw ()
	Assign the TQuaternion components.
TQuaternion &	operator= (const TQuaternion &q) throw ()
	Assign from another TQuaternion.
void	get (TQuaternion &q) const throw ()
	Assign to another TQuaternion.
void	setIdentity () throw ()
	Assign the components to the standard values.
void	swap (TQuaternion &q) throw ()
	Swap the contents of two TQuaternion.
Accessors
T	getAngle () const throw ()
	Get the positive angle rotation.
TVector3< T >	getAxis () throw (Exception::DivisionByZero)
	Get the normalized direction vector of the rotation axis.
TMatrix4x4< T > &	getRotationMatrix (TMatrix4x4< T > &m) const throw ()
	Get the rotation matrix.
TQuaternion	operator- () const throw ()
	Negative sign.
TQuaternion	getInverse () const throw ()
	Get the inverse TQuaternion.
TQuaternion	getConjugate () const throw ()
	Return the conjugate TQuaternion.
TQuaternion &	operator+= (const TQuaternion &q) throw ()
	Add a TQuaternion to this TQuaternion.
TQuaternion &	operator-= (const TQuaternion &q) throw ()
	Substract a TQuaternion from this TQuaternion.
Predicates
bool	operator== (const TQuaternion &q) const throw ()
	Equality operator.
bool	operator!= (const TQuaternion &q) const throw ()
	Inequality operator.
Debugging and Diagnostics
void	dump (std::ostream &s=std::cout, Size depth=0) const throw ()
	Internal state dump.
Public Attributes
Attributes
T	i
	x component of the axis.
T	j
	y component of the axis.
T	k
	z component of the axis.
T	angle
	Angle component.

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Detailed Description

template<typename T>
class TQuaternion< T >

Generic Quaternion Class.

Representing a rotation in three dimensional space.

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Constructor & Destructor Documentation

template<typename T> TQuaternion< T >::TQuaternion (   )  throw ()

Default constructor. This method creates a new TQuaternion object. The axis-components are initialized to 0, the angle is set to 1.

template<typename T> TQuaternion< T >::TQuaternion (  const TQuaternion< T > &  q  )  throw ()

Copy constructor. Create a new TQuaternion object from another. Parameters: TQuaternion  the TQuaternion object to be copied

template<typename T> TQuaternion< T >::TQuaternion (  const TVector3< T > &  axis, const T &  new_angle )  throw ()

Detailed constructor. Create a new TQuaternion object from a variable of type TVector3 and an angle. Parameters: axis  assigned to the axis new_angle  assigned to the angle

template<typename T> TQuaternion< T >::TQuaternion (  const T &  x, const T &  y, const T &  z, const T &  new_angle )  throw ()

Detailed constructor. Create a new TQuaternion object from three values of type T and an angle. Parameters: x  assigned to the x-component of the axis y  assigned to the y-component of the axis z  assigned to the z-component of the axis new_angle  assigned to the angle

template<typename T> TQuaternion< T >::~TQuaternion (   )  throw () [virtual]

Destructor. Destructs the TQuaternion object. As there are no dynamic data structures, nothing happens.

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Member Function Documentation

template<typename T> void TQuaternion< T >::clear (   )  throw () [virtual]

Clear method. The values are set to 0.

template<typename T> void TQuaternion< T >::dump (  std::ostream &  s = std::cout, Size  depth = 0 )  const throw ()

Internal state dump. Dump the current internal state of {*this} to the output ostream s with dumping depth depth . Parameters: s  - output stream where to output the internal state of {*this} depth  - the dumping depth

template<typename T> void TQuaternion< T >::get (  TQuaternion< T > &  q  )  const throw ()

Assign to another TQuaternion. Assigns the components to another TQuaternion. Parameters: q  the TQuaternion to be assigned to

template<typename T> T TQuaternion< T >::getAngle (   )  const throw ()

Get the positive angle rotation. Returns: T the angle value

template<typename T> TVector3< T > TQuaternion< T >::getAxis (   )  throw (Exception::DivisionByZero)

Get the normalized direction vector of the rotation axis. Returns: TVector3 the axis

template<typename T> TQuaternion< T > TQuaternion< T >::getConjugate (   )  const throw ()

Return the conjugate TQuaternion. (The axis components are negated.) Returns: TQuaternion the conjugate TQuaternion

template<typename T> TQuaternion< T > TQuaternion< T >::getInverse (   )  const throw ()

Get the inverse TQuaternion. Returns: TQuaternion the inverse TQuaternion

template<typename T> TMatrix4x4< T > & TQuaternion< T >::getRotationMatrix (  TMatrix4x4< T > &  m  )  const throw ()

Get the rotation matrix. Parameters: m  the matrix to compute from Returns: TMatrix4x4 the rotation matrix

template<typename T> bool TQuaternion< T >::operator!= (  const TQuaternion< T > &  q  )  const throw ()

Inequality operator. Returns: bool, true if the two TQuaternion differ in at least one component, false otherwise

template<typename T> TQuaternion< T > & TQuaternion< T >::operator+= (  const TQuaternion< T > &  q  )  throw ()

Add a TQuaternion to this TQuaternion. Parameters: q  the TQuaternion to add Returns: TQuaternion& {*this}

template<typename T> TQuaternion< T > TQuaternion< T >::operator- (   )  const throw ()

Negative sign.

template<typename T> TQuaternion< T > & TQuaternion< T >::operator-= (  const TQuaternion< T > &  q  )  throw ()

Substract a TQuaternion from this TQuaternion. Parameters: q  the TQuaternion to substract Returns: TQuaternion& {*this}

template<typename T> TQuaternion< T > & TQuaternion< T >::operator= (  const TQuaternion< T > &  q  )  throw ()

Assign from another TQuaternion. Parameters: q  the TQuaternion object to assign from

template<typename T> bool TQuaternion< T >::operator== (  const TQuaternion< T > &  q  )  const throw ()

Equality operator. Returns: bool, true if all components are equal, false otherwise

template<typename T> void TQuaternion< T >::set (  const T &  x, const T &  y, const T &  z, const T &  new_angle )  throw ()

Assign the TQuaternion components. Parameters: x  assigned to the x-component of the axis y  assigned to the y-component of the axis z  assigned to the z-component of the axis new_angle  assigned to the angle

template<typename T> void TQuaternion< T >::set (  const TVector3< T > &  axis, const T &  new_angle )  throw ()

Assign the TQuaternion components. Parameters: axis  the new axis component new_angle  the new angle component

template<typename T> void TQuaternion< T >::setIdentity (   )  throw ()

Assign the components to the standard values. The axis-components are set to 0, the angle is set to 1.

template<typename T> void TQuaternion< T >::swap (  TQuaternion< T > &  q  )  throw ()

Swap the contents of two TQuaternion. Parameters: q  the TQuaternion to swap contents with

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Member Data Documentation

template<typename T> T TQuaternion< T >::angle

Angle component.

template<typename T> T TQuaternion< T >::i

x component of the axis.

template<typename T> T TQuaternion< T >::j

y component of the axis.

template<typename T> T TQuaternion< T >::k

z component of the axis.