oglplus::Quaternion< T > Class Template Reference

Template class for quaternions. More...

#include </home/chochlik/devel/oglplus/include/oglplus/math/quaternion.hpp>

Public Member Functions
	Quaternion (T a, T x, T y, T z)
	Constructs a quaternion.
	Quaternion (Vector< T, 3 > axis, Angle< T > angle)
	Construct a Quaternion from an axis and an angle.
	Quaternion (T real, const Vector< T, 3 > &imag)
	Construct q Quaternion from the real and imag parts.
T	Real (void) const
	Returns the real scalar part of the quaternion.
Vector< T, 3 >	Imag (void) const
	Returns the imaginary vector part of the quaternion.
T	Magnitude (void) const
	Returns the magnitude of the quaternion.
bool	IsUnit (T eps=T(0)) const
	Returns true if the quaternion has unit Magnitude. More...
bool	IsNormal (T eps=T(0)) const
	Synonym for IsUnit. More...
bool	IsDegenerate (T eps=T(0)) const
	Returns true if the quaternion has zero Magnitude.
Quaternion &	Normalize (void)
	Normalizes this quaternion. More...

Friends
bool	Equal (const Quaternion &q1, const Quaternion &q2)
	Equality comparison.
bool	Close (const Quaternion &q1, const Quaternion &q2, T eps)
	Near-equality comparison.
bool	operator== (const Quaternion &q1, const Quaternion &q2)
	Equality comparison.
bool	operator!= (const Quaternion &q1, const Quaternion &q2)
	Non-equality comparison.
Quaternion	Conjugate (const Quaternion &q1)
	Conjugate quaternion.
Quaternion	operator~ (const Quaternion &q1)
	Conjugation.
Quaternion	Inverse (const Quaternion &q1)
	Inverse quaternion.
Quaternion	Add (const Quaternion &q1, const Quaternion &q2)
	Quaternion addition.
Quaternion	operator+ (const Quaternion &q1, const Quaternion &q2)
	Addition operator.
Quaternion	Multiply (const Quaternion &q1, const Quaternion &q2)
	Quaternion multiplication.
Quaternion	operator* (const Quaternion &q1, const Quaternion &q2)
	Multiplication operator.
Quaternion	operator* (const Quaternion &q1, T t)
	Multiplication by scalar operator.
Quaternion	operator* (T t, const Quaternion &q1)
	Multiplication by scalar operator.
Vector< T, 3 >	Rotate (const Quaternion &q, const Vector< T, 3 > &v)
	Rotate a vector by this quaternion. More...

Detailed Description

template<typename T>
class oglplus::Quaternion< T >

Template class for quaternions.

Member Function Documentation

template<typename T>

bool oglplus::Quaternion< T >::IsNormal

(

T

eps = T(0)

)

const

Synonym for IsUnit.

See Also

IsUnit

Normalize

References oglplus::Quaternion< T >::IsUnit().

template<typename T>

bool oglplus::Quaternion< T >::IsUnit

(

T

eps = T(0)

)

const

Returns true if the quaternion has unit Magnitude.

See Also

IsNormal

Normalize

References oglplus::T.

Referenced by oglplus::Quaternion< T >::IsNormal().

template<typename T>

Quaternion& oglplus::Quaternion< T >::Normalize

(

void

)

Normalizes this quaternion.

Precondition

!this->IsDegenerate();

Postcondition

this->IsUnit()

References oglplus::Quaternion< T >::Magnitude(), and oglplus::T.

Friends And Related Function Documentation

template<typename T>

Vector<T, 3> Rotate ( const Quaternion< T > &  q, const Vector< T, 3 > &  v  )

friend

Rotate a vector by this quaternion.

Precondition

this->IsNormal()

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

• /home/chochlik/devel/oglplus/include/oglplus/fwd.hpp
• /home/chochlik/devel/oglplus/include/oglplus/math/quaternion.hpp