#include <BALL/MATHS/quaternion.h>

Inheritance diagram for BALL::TQuaternion< T >:

Public Member Functions
Constructors and Destructors
	TQuaternion ()

	TQuaternion (const TQuaternion &q)

	TQuaternion (const boost::math::quaternion< T > &q)

	TQuaternion (const T &w, const T &i, const T &j, const T &k)

	TQuaternion (const TVector3< T > &axis, const T &angle)

	~TQuaternion ()

void	clear ()

Assignment
void	set (const TQuaternion &q)

void	set (const boost::math::quaternion< T > &q)

BALL_DEPRECATED void	set (const TVector3< T > &axis, const T &angle)

void	set (const T &w, const T &i, const T &j, const T &k)

TQuaternion &	operator= (const TQuaternion &q)

TQuaternion &	operator= (const boost::math::quaternion< T > &q)

void	setIdentity ()

TQuaternion< T > &	normalize ()

void	swap (TQuaternion &q)

void	fromAxisAngle (const TVector3< T > &axis, const T &angle)

void	fromEulerAngles (const T &yaw, const T &pitch, const T &roll)

void	toAxisAngle (TVector3< T > &axis, T &angle)

void	toEulerAngles (T &yaw, T &pitch, T &roll)

void	get (TQuaternion &q) const

T	getAngle () const

TVector3< T >	getAxis ()

TMatrix4x4< T > &	getRotationMatrix (TMatrix4x4< T > &m) const

TQuaternion	getInverse () const

TQuaternion	getConjugate () const

Accessors
T &	w ()

const T &	w () const

T &	i ()

const T &	i () const

T &	j ()

const T &	j () const

T &	k ()

const T &	k () const

Debugging and Diagnostics
void	dump (std::ostream &s=std::cout, Size depth=0) const

Detailed Description

template<typename T>
class BALL::TQuaternion< T >

Generic Quaternion Class.

Representing a rotation in three dimensional space.

Definition at line 30 of file quaternion.h.

Constructor & Destructor Documentation

template<typename T >

BALL::TQuaternion< T >::TQuaternion ( )

Default constructor. This method creates a new TQuaternion object. The quaternion is set to an identity quaternion.

Definition at line 268 of file quaternion.h.

template<typename T >

BALL::TQuaternion< T >::TQuaternion ( const TQuaternion< T > & q )

Copy constructor. Create a new TQuaternion object from another.

Parameters

TQuaternion the TQuaternion object to be copied

Definition at line 275 of file quaternion.h.

template<typename T>

BALL::TQuaternion< T >::TQuaternion ( const boost::math::quaternion< T > & q )

Detailed constructor. Create a new TQuaternion object from a boost::math::quaternion.

Parameters

boost::math::quaternion<T>

Definition at line 281 of file quaternion.h.

template<typename T>

BALL::TQuaternion< T >::TQuaternion	(	const T &	w,
		const T &	i,
		const T &	j,
		const T &	k
	)

Detailed constructor. Create a new TQuaternion object from four values of type T.

Parameters

w	assigned to the angular component w
i	assigned to the vector component i
j	assigned to the vector component j
k	assigned to the vector component k

Definition at line 287 of file quaternion.h.

template<typename T>

BALL::TQuaternion< T >::TQuaternion	(	const TVector3< T > &	axis,
		const T &	angle
	)

Detailed constructor. Create a new TQuaternion object from a variable of type TVector3 and an angle.

Parameters

axis	assigned to the axis
angle	assigned to the angle

Definition at line 293 of file quaternion.h.

template<typename T >

BALL::TQuaternion< T >::~TQuaternion ( )

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

Definition at line 300 of file quaternion.h.

Member Function Documentation

template<typename T >

void BALL::TQuaternion< T >::clear ( )

Clear method. The values are set to the identity quaternion.

Definition at line 305 of file quaternion.h.

template<typename T >

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

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

Definition at line 650 of file quaternion.h.

template<typename T>

void BALL::TQuaternion< T >::fromAxisAngle	(	const TVector3< T > &	axis,
		const T &	angle
	)

Assign the TQuaternion from an rotation axis and an angle.

Parameters

axis	the rotation axis
angle	the rotation angle

Definition at line 401 of file quaternion.h.

template<typename T>

void BALL::TQuaternion< T >::fromEulerAngles	(	const T &	yaw,
		const T &	pitch,
		const T &	roll
	)

Assign the TQuaternion from Euler angles. Assume the following rotation order:. q' = roll( pitch( yaw(q) ) ).

Parameters

yaw	the rotation about the yaw axis z-axis()
pitch	the rotation about the pitch axis (y-axis)
roll	the nrotation about the roll axis (x-axis)

Definition at line 423 of file quaternion.h.

template<typename T >

BALL_INLINE void BALL::TQuaternion< T >::get ( TQuaternion< T > & q ) const

Assign to another TQuaternion. Assigns the components to another TQuaternion.

Parameters

q	the TQuaternion to be assigned to

Definition at line 504 of file quaternion.h.

template<typename T >

T BALL::TQuaternion< T >::getAngle ( ) const

Get the positive angle rotation.

Returns: T the angle value

Definition at line 510 of file quaternion.h.

template<typename T >

TVector3< T > BALL::TQuaternion< T >::getAxis ( )

Get the normalized direction vector of the rotation axis.

Returns: TVector3 the axis

Definition at line 524 of file quaternion.h.

template<typename T >

BALL_INLINE TQuaternion< T > BALL::TQuaternion< T >::getConjugate ( ) const

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

Returns: TQuaternion the conjugate TQuaternion

Definition at line 577 of file quaternion.h.

template<typename T >

BALL_INLINE TQuaternion< T > BALL::TQuaternion< T >::getInverse ( ) const

Get the inverse TQuaternion.

Returns: TQuaternion the inverse TQuaternion

Definition at line 569 of file quaternion.h.

template<typename T>

TMatrix4x4< T > & BALL::TQuaternion< T >::getRotationMatrix ( TMatrix4x4< T > & m ) const

Get the rotation matrix.

Parameters

m	the matrix to compute from

Returns: TMatrix4x4 the rotation matrix

Definition at line 538 of file quaternion.h.

template<typename T >

T & BALL::TQuaternion< T >::i ( )

Get the axis component i.

Returns: get a reference to the axis component i

Definition at line 601 of file quaternion.h.

template<typename T >

const T & BALL::TQuaternion< T >::i ( ) const

Get the constant axis component i.

Returns: get a const reference to the axis component i

Definition at line 595 of file quaternion.h.

template<typename T >

T & BALL::TQuaternion< T >::j ( )

Get the axis component j.

Returns: get a reference to the axis component j

Definition at line 613 of file quaternion.h.

template<typename T >

const T & BALL::TQuaternion< T >::j ( ) const

Get the constant axis component j.

Returns: get a const reference to the axis component j

Definition at line 607 of file quaternion.h.

template<typename T >

T & BALL::TQuaternion< T >::k ( )

Get the axis component k.

Returns: get a reference to the axis component k

Definition at line 625 of file quaternion.h.

template<typename T >

const T & BALL::TQuaternion< T >::k ( ) const

Get the constant axis component k.

Returns: get a const reference to the axis component k

Definition at line 619 of file quaternion.h.

template<typename T >

BALL_INLINE TQuaternion< T > & BALL::TQuaternion< T >::normalize ( )

Normalize the quaternion. The quaternion is scaled with its norm:

Returns: TQuaternion&, a reference to the normalized quaternion

Definition at line 366 of file quaternion.h.

template<typename T >

BALL_INLINE TQuaternion< T > & BALL::TQuaternion< T >::operator= ( const TQuaternion< T > & q )

Assignment operator. Assign the TQuaternion components form another TQuaternion.

Definition at line 350 of file quaternion.h.

template<typename T>

BALL_INLINE TQuaternion< T > & BALL::TQuaternion< T >::operator= ( const boost::math::quaternion< T > & q )

Assignment operator Assign the TQuaternion components from a boost::math::quaternion.

Definition at line 342 of file quaternion.h.

template<typename T >

void BALL::TQuaternion< T >::set ( const TQuaternion< T > & q )

Definition at line 311 of file quaternion.h.

template<typename T>

void BALL::TQuaternion< T >::set ( const boost::math::quaternion< T > & q )

Definition at line 317 of file quaternion.h.

template<typename T>

BALL_INLINE void BALL::TQuaternion< T >::set	(	const TVector3< T > &	axis,
		const T &	angle
	)

Assign the TQuaternion components.

Parameters

axis	the new axis component
angle	the new angle component

Deprecated:: use TQuaternion::fromAxisAngle() instead

Definition at line 324 of file quaternion.h.

template<typename T>

BALL_INLINE void BALL::TQuaternion< T >::set	(	const T &	w,
		const T &	i,
		const T &	j,
		const T &	k
	)

Assign the TQuaternion components.

Parameters

w	assigned to the angular component w
i	assigned to the vector component i
j	assigned to the vector component j
k	assigned to the vector component k

Definition at line 331 of file quaternion.h.

template<typename T >

BALL_INLINE void BALL::TQuaternion< T >::setIdentity ( )

Set to an identity matrix. angular component w = 1; axis components i,j,k are set to 0;

Definition at line 358 of file quaternion.h.

template<typename T >

void BALL::TQuaternion< T >::swap ( TQuaternion< T > & q )

Swap the contents of two TQuaternion.

Parameters

q	the TQuaternion to swap contents with

Definition at line 381 of file quaternion.h.

template<typename T>

void BALL::TQuaternion< T >::toAxisAngle	(	TVector3< T > &	axis,
		T &	angle
	)

Assign the TQuaternion to an axis and an angle. the rotation axis is normalized.

Parameters

axis	the rotation axis
angle	the rotation angle

Definition at line 447 of file quaternion.h.

template<typename T>

void BALL::TQuaternion< T >::toEulerAngles	(	T &	yaw,
		T &	pitch,
		T &	roll
	)

Assign the TQuaternion to Euler angles. Assume the following rotation order:. q' = roll( pitch( yaw(q) ) ).

Parameters

yaw	the rotation about the yaw axis z-axis()
pitch	the rotation about the pitch axis (y-axis)
roll	the nrotation about the roll axis (x-axis)

Definition at line 467 of file quaternion.h.

template<typename T >

T & BALL::TQuaternion< T >::w ( )

Get the angular component w.

Returns: get a reference to the angular component w

Definition at line 589 of file quaternion.h.

template<typename T >

const T & BALL::TQuaternion< T >::w ( ) const

Get the constant angular component w.

Returns: get a const reference to the angular component w

Definition at line 583 of file quaternion.h.

Public Member Functions

Detailed Description

template<typename T> class BALL::TQuaternion< T >

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class BALL::TQuaternion< T >