mt::Quaternion Class Reference

Quaternion class. More...

#include <quaternion.h>

Inheritance diagram for mt::Quaternion:

Public Member Functions
	Quaternion ()
	Default constructor. Creates the [0.0, 0.0, 0.0, 1.0] quaternion.
	Quaternion (const Scalar &x, const Scalar &y, const Scalar &z, const Scalar &w)
	Constructor for four input values, where .
	Quaternion (const Scalar *q)
	Constructor for pointer input.
Scalar &	operator[] (size_t n)
	Unchecked element access.
const Scalar &	operator[] (size_t n) const
	Unchecked element access.
Quaternion &	operator+= (const Quaternion &q)
Quaternion &	operator-= (const Quaternion &q)
Quaternion &	operator*= (const Quaternion &q)
	Quaternion product (not memberwise product).
Quaternion &	operator*= (const Scalar &s)
	Scalar-quaternion product.
Quaternion &	operator/= (const Scalar &s)
	Scalar-quaternion division.
Vector3	operator() (const Vector3 &v) const
	Applies rotation to input vector.
bool	operator== (const Quaternion &q) const
bool	operator!= (const Quaternion &q) const
Scalar	dot (const Quaternion &q) const
	Dot product.
Scalar	length2 () const
	Squared quaternion length.
Scalar	length () const
	Quaternion length.
Quaternion &	normalize ()
	Normalize quaternion to unit length.
Scalar	distance2 (const Quaternion &q) const
	Squared distance between quaternions.
Scalar	distance (const Quaternion &q) const
	Distance between quaternions.
Scalar	angleCos (const Quaternion &q) const
	Cosine of the angle between quaternions.
Scalar	angle (const Quaternion &q) const
	Angle between quaternions in the range [0, pi] expressed in radians.
Quaternion	conjugate () const
	Quaternion conjugate.
Quaternion	inverse () const
	Quaternion inverse.
Quaternion	slerp (const Quaternion &q, const Scalar &t) const
	Spherical linear interpolation/extrapolation with input quaternion.
Scalar &	at (size_t n)
	Checked element access.
const Scalar &	at (size_t n) const
	Checked element access.
void	setValue (const Scalar &x, const Scalar &y, const Scalar &z, const Scalar &w)
	Sets quaternion values.
void	setValue (const Scalar *q)
	Sets quaternion values from pointer input.

Protected Attributes
Scalar	m_co [4]

Detailed Description

Quaternion class.

The Quaternion class provides the usual operators and functions used for expressing and manipulating quaternions.

Let be a quaternion, then the following notations are analogous: .

Member Function Documentation

bool mt::Quaternion::operator== ( const Quaternion &  q ) const

inline

Equality operator. The comparison criterion is that both the distance and angle between the two quaternions must be equal to zero.

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

• mt/quaternion.h