Wml::Quaternion< Real > Class Template Reference
[Math Objects]

#include <WmlQuaternion.h>

---

Detailed Description

template<class Real>
class Wml::Quaternion< Real >

Template class for a Quaternion.

Note:

The DigitalSpaces::in_Quaternionf* and DigitalSpaces::out_Quaternionf* operators are hacked in here, causing warnings as it is only appropriate for one of the possible template instantiations.

Public Member Functions
	Quaternion ()
	Quaternion (Real fW, Real fX, Real fY, Real fZ)
	Quaternion (const Quaternion &rkQ)
	Quaternion (const Matrix3< Real > &rkRot)
	Quaternion (const Vector3< Real > &rkAxis, Real fAngle)
	Quaternion (const Vector3< Real > akRotColumn[3])
	operator const Real * () const
	operator Real * ()
Real	operator[] (int i) const
Real &	operator[] (int i)
Real	W () const
Real &	W ()
Real	X () const
Real &	X ()
Real	Y () const
Real &	Y ()
Real	Z () const
Real &	Z ()
	Quaternion (DigitalSpaces::in_Quaternionf *pIn)
	operator DigitalSpaces::in_Quaternionf * () const
	operator DigitalSpaces::out_Quaternionf * ()
Quaternion &	operator= (const Quaternion &rkQ)
bool	operator== (const Quaternion &rkQ) const
bool	operator!= (const Quaternion &rkQ) const
bool	operator< (const Quaternion &rkQ) const
bool	operator<= (const Quaternion &rkQ) const
bool	operator> (const Quaternion &rkQ) const
bool	operator>= (const Quaternion &rkQ) const
Quaternion	operator+ (const Quaternion &rkQ) const
Quaternion	operator- (const Quaternion &rkQ) const
Quaternion	operator* (const Quaternion &rkQ) const
Quaternion	operator* (Real fScalar) const
Quaternion	operator/ (Real fScalar) const
Quaternion	operator- () const
Quaternion &	operator+= (const Quaternion &rkQ)
Quaternion &	operator-= (const Quaternion &rkQ)
Quaternion &	operator*= (Real fScalar)
Quaternion &	operator/= (Real fScalar)
void	FromRotationMatrix (const Matrix3< Real > &rkRot)
void	ToRotationMatrix (Matrix3< Real > &rkRot) const
void	FromRotationMatrix (const Vector3< Real > akRotColumn[3])
void	ToRotationMatrix (Vector3< Real > akRotColumn[3]) const
void	FromAxisAngle (const Vector3< Real > &rkAxis, Real fAngle)
void	ToAxisAngle (Vector3< Real > &rkAxis, Real &rfAngle) const
Real	Dot (const Quaternion &rkQ) const
Quaternion	Inverse () const
Quaternion	Conjugate () const
Quaternion	Exp () const
Quaternion	Log () const
Vector3< Real >	operator* (const Vector3< Real > &rkVector) const
void	DecomposeTwistTimesNoTwist (const Vector3< Real > &rkAxis, Quaternion &rkTwist, Quaternion &rkNoTwist)
void	DecomposeNoTwistTimesTwist (const Vector3< Real > &rkAxis, Quaternion &rkTwist, Quaternion &rkNoTwist)
Real	normalise (void)
Static Public Member Functions
static Quaternion	Slerp (Real fT, const Quaternion &rkP, const Quaternion &rkQ, bool shortestPath=true)
static Quaternion	SlerpExtraSpins (Real fT, const Quaternion &rkP, const Quaternion &rkQ, int iExtraSpins)
static Quaternion	GetIntermediate (const Quaternion &rkQ0, const Quaternion &rkQ1, const Quaternion &rkQ2)
static Quaternion	Squad (Real fT, const Quaternion &rkQ0, const Quaternion &rkA0, const Quaternion &rkA1, const Quaternion &rkQ1)
static Quaternion	Align (const Vector3< Real > &rkV1, const Vector3< Real > &rkV2)
Static Public Attributes
static const Quaternion	IDENTITY
static const Quaternion	ZERO
Protected Member Functions
int	CompareArrays (const Quaternion &rkQ) const
Real	Norm () const
Protected Attributes
Real	m_afTuple [4]
Static Protected Attributes
static int	ms_iNext [3]

---

Constructor & Destructor Documentation

template<class Real>

Wml::Quaternion< Real >::Quaternion

(

)

template<class Real>

Wml::Quaternion< Real >::Quaternion	(	Real	fW,
		Real	fX,
		Real	fY,
		Real	fZ
	)

template<class Real>

Wml::Quaternion< Real >::Quaternion

(

const Quaternion< Real > &

rkQ

)

template<class Real>

Wml::Quaternion< Real >::Quaternion

(

const Matrix3< Real > &

rkRot

)

template<class Real>

Wml::Quaternion< Real >::Quaternion	(	const Vector3< Real > &	rkAxis,
		Real	fAngle
	)

template<class Real>

Wml::Quaternion< Real >::Quaternion

(

const Vector3< Real >

akRotColumn[3]

)

template<class Real>

Wml::Quaternion< Real >::Quaternion

(

DigitalSpaces::in_Quaternionf *

pIn

)

---

Member Function Documentation

template<class Real>

Wml::Quaternion< Real >::operator const Real *

(

)

const

template<class Real>

Wml::Quaternion< Real >::operator Real *

(

)

template<class Real>

Real Wml::Quaternion< Real >::operator[]

(

int

i

)

const

template<class Real>

Real& Wml::Quaternion< Real >::operator[]

(

int

i

)

template<class Real>

Real Wml::Quaternion< Real >::W

(

)

const

template<class Real>

Real& Wml::Quaternion< Real >::W

(

)

template<class Real>

Real Wml::Quaternion< Real >::X

(

)

const

template<class Real>

Real& Wml::Quaternion< Real >::X

(

)

template<class Real>

Real Wml::Quaternion< Real >::Y

(

)

const

template<class Real>

Real& Wml::Quaternion< Real >::Y

(

)

template<class Real>

Real Wml::Quaternion< Real >::Z

(

)

const

template<class Real>

Real& Wml::Quaternion< Real >::Z

(

)

template<class Real>

Wml::Quaternion< Real >::operator DigitalSpaces::in_Quaternionf *

(

)

const [inline]

template<class Real>

Wml::Quaternion< Real >::operator DigitalSpaces::out_Quaternionf *

(

)

[inline]

template<class Real>

Quaternion& Wml::Quaternion< Real >::operator=

(

const Quaternion< Real > &

rkQ

)

template<class Real>

bool Wml::Quaternion< Real >::operator==

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

bool Wml::Quaternion< Real >::operator!=

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

bool Wml::Quaternion< Real >::operator<

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

bool Wml::Quaternion< Real >::operator<=

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

bool Wml::Quaternion< Real >::operator>

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

bool Wml::Quaternion< Real >::operator>=

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::operator+

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::operator-

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::operator*

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::operator*

(

Real

fScalar

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::operator/

(

Real

fScalar

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::operator-

(

)

const

template<class Real>

Quaternion& Wml::Quaternion< Real >::operator+=

(

const Quaternion< Real > &

rkQ

)

template<class Real>

Quaternion& Wml::Quaternion< Real >::operator-=

(

const Quaternion< Real > &

rkQ

)

template<class Real>

Quaternion& Wml::Quaternion< Real >::operator*=

(

Real

fScalar

)

template<class Real>

Quaternion& Wml::Quaternion< Real >::operator/=

(

Real

fScalar

)

template<class Real>

void Wml::Quaternion< Real >::FromRotationMatrix

(

const Matrix3< Real > &

rkRot

)

template<class Real>

void Wml::Quaternion< Real >::ToRotationMatrix

(

Matrix3< Real > &

rkRot

)

const

template<class Real>

void Wml::Quaternion< Real >::FromRotationMatrix

(

const Vector3< Real >

akRotColumn[3]

)

template<class Real>

void Wml::Quaternion< Real >::ToRotationMatrix

(

Vector3< Real >

akRotColumn[3]

)

const

template<class Real>

void Wml::Quaternion< Real >::FromAxisAngle	(	const Vector3< Real > &	rkAxis,
		Real	fAngle
	)

template<class Real>

void Wml::Quaternion< Real >::ToAxisAngle	(	Vector3< Real > &	rkAxis,
		Real &	rfAngle
	)			const

template<class Real>

Real Wml::Quaternion< Real >::Dot

(

const Quaternion< Real > &

rkQ

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::Inverse

(

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::Conjugate

(

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::Exp

(

)

const

template<class Real>

Quaternion Wml::Quaternion< Real >::Log

(

)

const

template<class Real>

Vector3<Real> Wml::Quaternion< Real >::operator*

(

const Vector3< Real > &

rkVector

)

const

template<class Real>

static Quaternion Wml::Quaternion< Real >::Slerp	(	Real	fT,
		const Quaternion< Real > &	rkP,
		const Quaternion< Real > &	rkQ,
		bool	shortestPath = true
	)			[static]

template<class Real>

static Quaternion Wml::Quaternion< Real >::SlerpExtraSpins	(	Real	fT,
		const Quaternion< Real > &	rkP,
		const Quaternion< Real > &	rkQ,
		int	iExtraSpins
	)			[static]

template<class Real>

static Quaternion Wml::Quaternion< Real >::GetIntermediate	(	const Quaternion< Real > &	rkQ0,
		const Quaternion< Real > &	rkQ1,
		const Quaternion< Real > &	rkQ2
	)			[static]

template<class Real>

static Quaternion Wml::Quaternion< Real >::Squad	(	Real	fT,
		const Quaternion< Real > &	rkQ0,
		const Quaternion< Real > &	rkA0,
		const Quaternion< Real > &	rkA1,
		const Quaternion< Real > &	rkQ1
	)			[static]

template<class Real>

static Quaternion Wml::Quaternion< Real >::Align	(	const Vector3< Real > &	rkV1,
		const Vector3< Real > &	rkV2
	)			[static]

template<class Real>

void Wml::Quaternion< Real >::DecomposeTwistTimesNoTwist	(	const Vector3< Real > &	rkAxis,
		Quaternion< Real > &	rkTwist,
		Quaternion< Real > &	rkNoTwist
	)

template<class Real>

void Wml::Quaternion< Real >::DecomposeNoTwistTimesTwist	(	const Vector3< Real > &	rkAxis,
		Quaternion< Real > &	rkTwist,
		Quaternion< Real > &	rkNoTwist
	)

template<class Real>

Real Wml::Quaternion< Real >::normalise

(

void

)

[inline]

template<class Real>

int Wml::Quaternion< Real >::CompareArrays

(

const Quaternion< Real > &

rkQ

)

const [protected]

template<class Real>

Real Wml::Quaternion< Real >::Norm

(

)

const [inline, protected]

---

Field Documentation

template<class Real>

const Quaternion Wml::Quaternion< Real >::IDENTITY [static]

template<class Real>

const Quaternion Wml::Quaternion< Real >::ZERO [static]

template<class Real>

int Wml::Quaternion< Real >::ms_iNext[3] [static, protected]

template<class Real>

Real Wml::Quaternion< Real >::m_afTuple[4] [protected]

Referenced by Wml::Quaternion< Real >::operator DigitalSpaces::in_Quaternionf *(), and Wml::Quaternion< Real >::operator DigitalSpaces::out_Quaternionf *().

---

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

• Common/WML/include/WmlQuaternion.h