GEO::Quaternion Class Reference

Quaternions are useful for representing rotations. More...

#include <geogram/basic/quaternion.h>

Public Member Functions
	Quaternion ()
	Constructs a new Quaternion.
	Quaternion (const Quaternion &rhs)
	Copy-constructs a new Quaternion. More...
	Quaternion (double x, double y, double z, double w)
	Constructs a new quaternion from its coefficients. More...
	Quaternion (const vec3 &v, double s)
	Constructs a new Quaternion from a vector and a scalar. More...
Quaternion &	operator= (const Quaternion &q)
	Copies a Quaternion. More...
void	set (const vec3 &v, double s)
	Sets the coefficients of this quaterion. More...
void	print (std::ostream &out) const
	Displays this Quaternion. More...
mat4	to_matrix () const
	Converts this Quaternion into a matrix. More...
void	set_angle (double f)
	Sets the rotation angle. More...
void	scale_angle (double f)
	Scales the rotation angle.
double	angle () const
	Gets the rotation angle. More...
vec3	axis () const
	Gets the axis. More...
const vec3 &	v () const
	Gets the vector component. More...
double	s () const
	Gets the scalar component. More...

Static Public Member Functions
static Quaternion	spherical_interpolation (const Quaternion &from, const Quaternion &to, double t)
	Computes the interpolation between two quaternions. More...

Detailed Description

Quaternions are useful for representing rotations.

This class is inspired by an implementation written by Paul Rademacher, in his glui library.

Definition at line 61 of file quaternion.h.

Constructor & Destructor Documentation

Quaternion() [1/3]

GEO::Quaternion::Quaternion ( const Quaternion &  rhs )

inline

Copy-constructs a new Quaternion.

Parameters

[in]

rhs

the Quaternion to be copied.

Definition at line 74 of file quaternion.h.

Quaternion() [2/3]

GEO::Quaternion::Quaternion ( double  x, double  y, double  z, double  w  )

inline

Constructs a new quaternion from its coefficients.

Parameters

[in]	x	a coefficient of the quaternion
[in]	y	a coefficient of the quaternion
[in]	z	a coefficient of the quaternion
[in]	w	a coefficient of the quaternion

Definition at line 84 of file quaternion.h.

Quaternion() [3/3]

GEO::Quaternion::Quaternion ( const vec3 &  v, double  s  )

inline

Constructs a new Quaternion from a vector and a scalar.

Parameters

[in]	v	a const reference to the vector
[in]	s	the scalalr

Definition at line 95 of file quaternion.h.

Member Function Documentation

angle()

double GEO::Quaternion::angle ( ) const

inline

Gets the rotation angle.

Returns

the angle

Definition at line 156 of file quaternion.h.

axis()

vec3 GEO::Quaternion::axis

(

)

const

Gets the axis.

Returns

The axis.

operator=()

Quaternion& GEO::Quaternion::operator= ( const Quaternion &  q )

inline

Copies a Quaternion.

Parameters

[in]

q

the Quaternion to be copied

Returns

a reference to this Quaternion

Definition at line 103 of file quaternion.h.

print()

void GEO::Quaternion::print ( std::ostream &  out ) const

inline

Displays this Quaternion.

Parameters

[in]

out

a reference to the std::ostream where this Quaternion should be displayed

Definition at line 124 of file quaternion.h.

s()

double GEO::Quaternion::s ( ) const

inline

Gets the scalar component.

Returns

the scalar component

Note

the scalar component is not the rotation angle. The rotation angle is obtained by calling angle().

Definition at line 195 of file quaternion.h.

set()

void GEO::Quaternion::set ( const vec3 &  v, double  s  )

inline

Sets the coefficients of this quaterion.

Parameters

[in]	v	a const reference to the vector components
[in]	s	the scalar component

Definition at line 114 of file quaternion.h.

set_angle()

void GEO::Quaternion::set_angle ( double  f )

inline

Sets the rotation angle.

Parameters

[in]

f

the rotation angle

Definition at line 139 of file quaternion.h.

spherical_interpolation()

static Quaternion GEO::Quaternion::spherical_interpolation ( const Quaternion &  from, const Quaternion &  to, double  t  )

static

Computes the interpolation between two quaternions.

Parameters

[in]	from	a const reference to the first quaternion
[in]	to	a const reference to the second quaternion
[in]	t	time, in [0.0,1.0]

Returns

a smooth interpolation between from and to parameterized by t

to_matrix()

mat4 GEO::Quaternion::to_matrix

(

)

const

Converts this Quaternion into a matrix.

Returns

a matrix (mat4) that represents this Quaternion

v()

const vec3& GEO::Quaternion::v ( ) const

inline

Gets the vector component.

Returns

the vector component

Note

the vector part is not the axis of rotation. The axis of rotation is obtained by calling axis().

Definition at line 185 of file quaternion.h.

---

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

• geogram/basic/quaternion.h