vcl::Quaternion< Scalar > Class Template Reference

Quaternion class. More...

#include <vclib/space/core/quaternion.h>

Inheritance diagram for vcl::Quaternion< Scalar >:

Public Types
using	ScalarType = Scalar
	The Scalar type of the Quaternion.

Public Member Functions
	Quaternion ()
	Constructs a quaternion representing the identity rotation (w = 1, 0, 0, 0).
template<typename S , int Options>
	Quaternion (const Eigen::Quaternion< S, Options > &q)
	Quaternion (const Scalar &angle, const Point3< Scalar > &axis)
	Quaternion (const Matrix44< Scalar > &rotMatrix)
	Quaternion (const Point3< Scalar > &a, const Point3< Scalar > &b)
	Constructs the quaternion that will represent the rotation between the two arbitrary vectors a and b.
template<typename S >
auto	cast () const
	Casts the Quaternion object to a different scalar type.
constexpr uint	size () const
void	set (const Scalar &w, const Scalar &x, const Scalar &y, const Scalar &z)
void	setFromAngleAxis (const Scalar &angle, const Point3< Scalar > &axis)
std::size_t	hash () const
	Computes the hash value of the quaternion.
Point3< Scalar >	operator* (const Point3< Scalar > &p) const
	Quaternion-Vector multiplication.

Private Types
using	Base = Eigen::Quaternion< Scalar >

Detailed Description

template<typename Scalar>
class vcl::Quaternion< Scalar >

Quaternion class.

This class represents a quaternion, w + xi + yj + zk vector with a scalar part and a vector part.

Note that the scalar part is stored in the w component, while the vector part is stored in the x, y and z components.

Note

Note that internally the coefficients are stored in the following order: [x, y, z, w]. This means that accessing to the first component of the quaternion (index 0) will return the x component, and the last component (index 3) will return the w component.

Template Parameters

Scalar

the scalar used to represent the quaternion.

Constructor & Destructor Documentation

Quaternion()

template<typename Scalar >

vcl::Quaternion< Scalar >::Quaternion ( const Point3< Scalar > &  a, const Point3< Scalar > &  b  )

inline

Constructs the quaternion that will represent the rotation between the two arbitrary vectors a and b.

In other words, the built rotation represent a rotation sending the line of direction a to the line of direction b, both lines passing through the origin.

Parameters

[in]	a	first input vector.
[in]	b	second input vector.

Member Function Documentation

cast()

template<typename Scalar >

template<typename S >

auto vcl::Quaternion< Scalar >::cast ( ) const

inline

Casts the Quaternion object to a different scalar type.

The function returns a new Quaternion object with each scalar value casted to a different type.

Template Parameters

S	The scalar type to cast to.

Returns

A new Quaternion object with each scalar value casted to a different type.

hash()

template<typename Scalar >

std::size_t vcl::Quaternion< Scalar >::hash ( ) const

inline

Computes the hash value of the quaternion.

This function computes a hash value of the quaternion, which can be used for hashing and comparison purposes.

Returns

The hash value of the quaternion.

operator*()

template<typename Scalar >

Point3< Scalar > vcl::Quaternion< Scalar >::operator* ( const Point3< Scalar > &  p ) const

inline

Quaternion-Vector multiplication.

Corresponds to the operation q * v * q^{-1} where q is the quaternion and v is the vector.

Parameters

[in]

p

The vector to rotate.

Returns

The rotated vector.

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

• vclib/core/include/vclib/space/core/quaternion.h