kjb::Quaternion Class Reference

#include <g_quaternion.h>

Public Types
enum	Euler_mode {   XESS = 0, XYXS, XEDS, XYZS,   XOSS, XZXS, XODS, XZYS,   YESS, YZYS, YEDS, YZXS,   YOSS, YXYS, YODS, YXZS,   ZESS, ZXZS, ZEDS, ZXYS,   ZOSS, ZYZS, ZODS, ZYXS,   XESR, XYXR, XEDR, ZYXR,   XOSR, XZXR, XODR, YZXR,   YESR, YZYR, YEDR, XZYR,   YOSR, YXYR, YODR, ZXYR,   ZESR, ZXZR, ZEDR, YXZR,   ZOSR, ZYZR, ZODR, XYZR }
enum	Euler_axis { EulX = 0, EulY = 1, EulZ = 2 }
enum	Euler_parity { EulParEven = 0, EulParOdd = 1 }
enum	Euler_repeat { EulRepNo = 0, EulRepYes = 1 }
enum	Euler_frame { EulFrmS = 0, EulFrmR = 1 }

Public Member Functions
	Quaternion ()
	Quaternion (double x, double y, double z, double w)
	Quaternion (double phi, double theta, double psi, Euler_mode mode=DEFAULT_EULER_MODE)
	Quaternion (const Matrix &rotation_matrix)
	Quaternion (const Vector &x, const Vector &y, const Vector &z)
	Quaternion (const Vector &axis, double angle)
	Quaternion (const Quaternion &)
Quaternion	clone () const
void	swap (Self &other)
Quaternion &	init_identity ()
bool	is_identity () const
const Matrix &	get_rotation_matrix () const
const Vector &	get_axis () const
Vector	get_axis_angle () const
double	get_angle () const
const Vector &	get_euler_angles () const
	returns vector [phi, theta, psi] More...
Vector	get_imag () const
	returns vector [x, y, z] More...
double	get_real () const
	returns w More...
Quaternion &	set_rotation_matrix (const Matrix &)
Quaternion &	set_axis_angle (const Vector &, double angle)
Quaternion &	set_axis_angle (const Vector &axis_angle)
Quaternion &	set_from_directions (const Vector &d1, const Vector &d2)
	Find quaternion that rotates vector d1 to vector d2 in the smallest angle. More...
Quaternion &	set_from_directions (const Vector3 &d1, const Vector3 &d2)
Quaternion &	set_euler_angles (double phi, double theta, double psi)
Quaternion &	set_euler_phi (double phi)
Quaternion &	set_euler_theta (double theta)
Quaternion &	set_euler_psi (double psi)
Quaternion &	set_euler_mode (Euler_mode m)
Euler_mode	get_euler_mode () const
Vector	rotate (const Vector &v) const
Vector3	rotate (const Vector3 &v) const
Quaternion	conj () const
double	norm (unsigned int l=2) const
	compute the L-* norm More...
double	magnitude () const
double	magnitude_squared () const
Quaternion &	operator= (const Quaternion &)
Quaternion &	operator*= (const Quaternion &)
Quaternion &	operator/= (const Quaternion &)
Quaternion &	operator+= (const Quaternion &)
Quaternion &	operator-= (const Quaternion &)
	This is simple 4-vector subtraction. If you want to invert a rotation, don't use this–multiply by the conugate instead (or use the division operator (untested?)) More...
Quaternion &	operator*= (double)
	This is used in computing the mean, and in normalization. More...
Quaternion &	operator/= (double)
Quaternion	operator* (const Quaternion &) const
Quaternion	operator/ (const Quaternion &) const
Quaternion	operator+ (const Quaternion &q) const
Quaternion	operator- (const Quaternion &q) const
bool	operator== (const Quaternion &) const
bool	operator!= (const Quaternion &) const

Static Public Member Functions
static void	set_default_euler_mode (Euler_mode m)
static Euler_mode	get_default_euler_mode ()
static void	set_gimbal_lock_epsilon (float e)
static float	get_gimbal_lock_epsilon ()
static void	set_epsilon (float e)
static float	get_epsilon ()

Public Attributes
bool	_gimbal_lock

Static Public Attributes
static const Euler_axis	EulSafe [4] = {EulX, EulY, EulZ, EulX}
static const Euler_axis	EulNext [4] = {EulY, EulZ, EulX, EulY}

Friends
Quaternion	slerp (const Quaternion &q1, const Quaternion &q2, double t)
Quaternion	slerp2 (const Quaternion &q1, const Quaternion &q2, double t)
Quaternion	nlerp (const Quaternion &q1, const Quaternion &q2, double t)
std::ostream &	operator<< (std::ostream &out, const Quaternion &q)

Member Enumeration Documentation

enum kjb::Quaternion::Euler_axis

Enumerator
EulX
EulY
EulZ

enum kjb::Quaternion::Euler_frame

Enumerator
EulFrmS
EulFrmR

enum kjb::Quaternion::Euler_mode

Enumerator
XESS
XYXS
XEDS
XYZS
XOSS
XZXS
XODS
XZYS
YESS
YZYS
YEDS
YZXS
YOSS
YXYS
YODS
YXZS
ZESS
ZXZS
ZEDS
ZXYS
ZOSS
ZYZS
ZODS
ZYXS
XESR
XYXR
XEDR
ZYXR
XOSR
XZXR
XODR
YZXR
YESR
YZYR
YEDR
XZYR
YOSR
YXYR
YODR
ZXYR
ZESR
ZXZR
ZEDR
YXZR
ZOSR
ZYZR
ZODR
XYZR

enum kjb::Quaternion::Euler_parity

Enumerator
EulParEven
EulParOdd

enum kjb::Quaternion::Euler_repeat

Enumerator
EulRepNo
EulRepYes

Constructor & Destructor Documentation

kjb::Quaternion::Quaternion

(

)

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

Construct a quaternion directly from its components.

Note

Does not normalize norm to 1. Use one of the other constructors to create a unit quaternion.

kjb::Quaternion::Quaternion	(	double	phi,
		double	theta,
		double	psi,
		Euler_mode	mode = DEFAULT_EULER_MODE
	)

kjb::Quaternion::Quaternion

(

const Matrix &

rotation_matrix

)

kjb::Quaternion::Quaternion	(	const Vector &	x,
		const Vector &	y,
		const Vector &	z
	)

Set rotation matrix from new x, y, z vectors

kjb::Quaternion::Quaternion	(	const Vector &	axis,
		double	angle
	)

kjb::Quaternion::Quaternion

(

const Quaternion &

src

)

Member Function Documentation

Quaternion kjb::Quaternion::clone

(

)

const

Quaternion kjb::Quaternion::conj

(

)

const

double kjb::Quaternion::get_angle

(

)

const

const Vector & kjb::Quaternion::get_axis

(

)

const

Vector kjb::Quaternion::get_axis_angle

(

)

const

Quaternion::Euler_mode kjb::Quaternion::get_default_euler_mode ( )

static

float kjb::Quaternion::get_epsilon ( )

static

const Vector & kjb::Quaternion::get_euler_angles

(

)

const

returns vector [phi, theta, psi]

Quaternion::Euler_mode kjb::Quaternion::get_euler_mode

(

)

const

float kjb::Quaternion::get_gimbal_lock_epsilon ( )

static

Vector kjb::Quaternion::get_imag

(

)

const

returns vector [x, y, z]

double kjb::Quaternion::get_real

(

)

const

returns w

const Matrix & kjb::Quaternion::get_rotation_matrix

(

)

const

Quaternion & kjb::Quaternion::init_identity

(

)

bool kjb::Quaternion::is_identity ( ) const

inline

double kjb::Quaternion::magnitude ( ) const

inline

double kjb::Quaternion::magnitude_squared ( ) const

inline

double kjb::Quaternion::norm

(

unsigned int

l = 2

)

const

compute the L-* norm

bool kjb::Quaternion::operator!=

(

const Quaternion &

op2

)

const

Quaternion kjb::Quaternion::operator*

(

const Quaternion &

op_2

)

const

Quaternion & kjb::Quaternion::operator*=

(

const Quaternion &

q

)

Quaternion & kjb::Quaternion::operator*=

(

double

x

)

This is used in computing the mean, and in normalization.

Quaternion kjb::Quaternion::operator+ ( const Quaternion &  q ) const

inline

Quaternion & kjb::Quaternion::operator+=

(

const Quaternion &

q

)

Quaternion kjb::Quaternion::operator- ( const Quaternion &  q ) const

inline

Quaternion & kjb::Quaternion::operator-=

(

const Quaternion &

q

)

This is simple 4-vector subtraction. If you want to invert a rotation, don't use this–multiply by the conugate instead (or use the division operator (untested?))

Quaternion kjb::Quaternion::operator/

(

const Quaternion &

op_2

)

const

Quaternion & kjb::Quaternion::operator/=

(

const Quaternion &

q

)

Quaternion & kjb::Quaternion::operator/=

(

double

x

)

Quaternion & kjb::Quaternion::operator=

(

const Quaternion &

src

)

bool kjb::Quaternion::operator==

(

const Quaternion &

op2

)

const

Vector kjb::Quaternion::rotate

(

const Vector &

v

)

const

Vector3 kjb::Quaternion::rotate

(

const Vector3 &

v

)

const

Quaternion & kjb::Quaternion::set_axis_angle	(	const Vector &	axis,
		double	angle
	)

Quaternion & kjb::Quaternion::set_axis_angle

(

const Vector &

axis_angle

)

Set axis/angle from 3-vector, where magnitude is angle, and direction is axis.

void kjb::Quaternion::set_default_euler_mode ( Euler_mode  m )

static

void kjb::Quaternion::set_epsilon ( float  e )

static

Quaternion & kjb::Quaternion::set_euler_angles	(	double	phi,
		double	theta,
		double	psi
	)

Quaternion & kjb::Quaternion::set_euler_mode

(

Euler_mode

m

)

Quaternion & kjb::Quaternion::set_euler_phi

(

double

phi

)

Set first euler rotation

Quaternion & kjb::Quaternion::set_euler_psi

(

double

psi

)

Set first euler rotation

Quaternion & kjb::Quaternion::set_euler_theta

(

double

theta

)

Set second euler rotation

Quaternion & kjb::Quaternion::set_from_directions	(	const Vector &	d1,
		const Vector &	d2
	)

Find quaternion that rotates vector d1 to vector d2 in the smallest angle.

Find quaternion that rotates vector d1 to vector d2 in the smallest angle.

Quaternion & kjb::Quaternion::set_from_directions	(	const Vector3 &	d1,
		const Vector3 &	d2
	)

void kjb::Quaternion::set_gimbal_lock_epsilon ( float  e )

static

Quaternion & kjb::Quaternion::set_rotation_matrix

(

const Matrix &

rotation_matrix

)

void kjb::Quaternion::swap

(

Self &

other

)

Friends And Related Function Documentation

Quaternion nlerp ( const Quaternion &  q1, const Quaternion &  q2, double  t  )

friend

Normalized linear interpolation of two quaternions. More efficient than slerp, but rotation rate is non-constant.

std::ostream& operator<< ( std::ostream &  out, const Quaternion &  q  )

friend

Quaternion slerp ( const Quaternion &  q1, const Quaternion &  q2, double  t  )

friend

Spherical linear interpolation between two quaternions

Quaternion slerp2 ( const Quaternion &  q1, const Quaternion &  q2, double  t  )

friend

An alternative implementation of spherical linear interpolation

Member Data Documentation

bool kjb::Quaternion::_gimbal_lock

mutable

const Quaternion::Euler_axis kjb::Quaternion::EulNext = {EulY, EulZ, EulX, EulY}

static

const Quaternion::Euler_axis kjb::Quaternion::EulSafe = {EulX, EulY, EulZ, EulX}

static

---

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

• /work/kobus/src/lib/g_cpp/g_quaternion.h
• /work/kobus/src/lib/g_cpp/g_quaternion.cpp