BALL::TQuaternion< T > Class Template Reference
[Quaternion]

Generic Quaternion Class. More...

#include <quaternion.h>

Inheritance diagram for BALL::TQuaternion< T >:

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Public Member Functions
Constructors and Destructors
	TQuaternion ()
	Default constructor.
	TQuaternion (const TQuaternion &q)
	Copy constructor.
	TQuaternion (const boost::math::quaternion< T > &q)
	Detailed constructor.
	TQuaternion (const T &w, const T &i, const T &j, const T &k)
	Detailed constructor.
	TQuaternion (const TVector3< T > &axis, const T &angle)
	Detailed constructor.
virtual	~TQuaternion ()
	Destructor.
virtual void	clear ()
	Clear method.
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)
	Assign the TQuaternion components.
void	set (const T &w, const T &i, const T &j, const T &k)
	Assign the TQuaternion components.
TQuaternion &	operator= (const TQuaternion &q)
	Assignment operator.
TQuaternion &	operator= (const boost::math::quaternion< T > &q)
	Assignment operator Assign the TQuaternion components from a boost::math::quaternion.
void	setIdentity ()
	Set to an identity matrix.
TQuaternion< T > &	normalize ()
	Normalize the quaternion.
void	swap (TQuaternion &q)
	Swap the contents of two TQuaternion.
void	fromAxisAngle (const TVector3< T > &axis, const T &angle)
	Assign the TQuaternion from an rotation axis and an angle.
void	fromEulerAngles (const T &yaw, const T &pitch, const T &roll)
	Assign the TQuaternion from Euler angles.
void	toAxisAngle (TVector3< T > &axis, T &angle)
	Assign the TQuaternion to an axis and an angle.
void	toEulerAngles (T &yaw, T &pitch, T &roll)
	Assign the TQuaternion to Euler angles.
void	get (TQuaternion &q) const
	Assign to another TQuaternion.
T	getAngle () const
	Get the positive angle rotation.
TVector3< T >	getAxis ()
	Get the normalized direction vector of the rotation axis.
TMatrix4x4< T > &	getRotationMatrix (TMatrix4x4< T > &m) const
	Get the rotation matrix.
TQuaternion	getInverse () const
	Get the inverse TQuaternion.
TQuaternion	getConjugate () const
	Return the conjugate TQuaternion.
Accessors
T &	w ()
	Get the angular component w.
const T &	w () const
	Get the constant angular component w.
T &	i ()
	Get the axis component i.
const T &	i () const
	Get the constant axis component i.
T &	j ()
	Get the axis component j.
const T &	j () const
	Get the constant axis component j.
T &	k ()
	Get the axis component k.
const T &	k () const
	Get the constant axis component k.
Debugging and Diagnostics
void	dump (std::ostream &s=std::cout, Size depth=0) const
	Internal state dump.

Detailed Description

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

Generic Quaternion Class.

Representing a rotation in three dimensional space.

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.

References BALL::TQuaternion< T >::setIdentity().

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

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>

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

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

References BALL::TQuaternion< T >::fromAxisAngle().

template<typename T >

BALL::TQuaternion< T >::~TQuaternion ( ) [virtual]

Destructor.

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

Member Function Documentation

template<typename T >

void BALL::TQuaternion< T >::clear ( ) [virtual]

Clear method.

The values are set to the identity quaternion.

References BALL::TQuaternion< T >::setIdentity().

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

References BALL::TQuaternion< T >::i(), BALL::TQuaternion< T >::j(), BALL::TQuaternion< T >::k(), and BALL::TQuaternion< T >::w().

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

References BALL::TVector3< T >::getLength(), BALL::Maths::isEqual(), BALL::TVector3< T >::x, BALL::TVector3< T >::y, and BALL::TVector3< T >::z.

Referenced by BALL::TQuaternion< T >::set(), and BALL::TQuaternion< T >::TQuaternion().

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)

template<typename T >

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

References BALL::TQuaternion< T >::set().

template<typename T >

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

Get the positive angle rotation.

Returns:: T the angle value

References BALL::Maths::isEqual().

template<typename T >

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

Get the normalized direction vector of the rotation axis.

Returns:: TVector3 the axis

References BALL::Maths::isEqual().

template<typename T >

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

Return the conjugate TQuaternion.

(The axis components are negated.)

Returns:: TQuaternion the conjugate TQuaternion

template<typename T >

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

Get the inverse TQuaternion.

Returns:: TQuaternion the inverse TQuaternion

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

References BALL::TMatrix4x4< T >::set().

Referenced by BALL::TQuaternion< T >::toEulerAngles().

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

template<typename T >

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

Get the axis component i.

Returns:: get a reference to the axis component i

Referenced by BALL::TQuaternion< T >::dump().

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

template<typename T >

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

Get the axis component j.

Returns:: get a reference to the axis component j

Referenced by BALL::TQuaternion< T >::dump().

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

template<typename T >

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

Get the axis component k.

Returns:: get a reference to the axis component k

Referenced by BALL::TQuaternion< T >::dump().

template<typename T >

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

Normalize the quaternion.

The quaternion is scaled with its norm:

Returns:: TQuaternion&, a reference to the normalized quaternion

References BALL::Maths::isEqual().

template<typename T >

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

Assignment operator.

Assign the TQuaternion components form another TQuaternion.

template<typename T>

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

template<typename T>

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

References BALL::TQuaternion< T >::fromAxisAngle().

template<typename T >

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

Set to an identity matrix.

angular component w = 1; axis components i,j,k are set to 0;

Referenced by BALL::TQuaternion< T >::clear(), and BALL::TQuaternion< T >::TQuaternion().

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

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

References BALL::Maths::isEqual(), BALL::TVector3< T >::x, BALL::TVector3< T >::y, and BALL::TVector3< T >::z.

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)

References BALL::Constants::EPSILON, and BALL::TQuaternion< T >::getRotationMatrix().

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

template<typename T >

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

Get the angular component w.

Returns:: get a reference to the angular component w

Referenced by BALL::TQuaternion< T >::dump().

BALL::TQuaternion< T > Class Template Reference [Quaternion]

Public Member Functions

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

BALL::TQuaternion< T > Class Template Reference
[Quaternion]

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