Quaternion class for arbitrary types (WORK IN PROGRESS). More...

#include <quaternion.h>

Collaboration diagram for math::Quaternion< T >:

Public Member Functions
	Quaternion (T const &v1, T const &v2, T const &v3, T const &v4)
	Constructor that takes all quaternion values.

	Quaternion (T const &value)
	Constructor that initializes ALL values.

	Quaternion (Vector< T, 3 > const &axis, T const &angle)
	Creates a quaternion from axis and angle.

	Quaternion (void)
	Creates a new, uninitialized quaternion.

Quaternion< T > &	conjugate (void)
	Conjugates self and returns reference to self.

Quaternion< T >	conjugated (void) const
	Returns a conjugated copy of self.

void	get_axis_angle (T *axis, T &angle)
	Provides the axis and angle of the quaternion.

Quaternion< T >	operator* (Quaternion< T > const &rhs) const
	Quaternion with quaternion multiplication.

Quaternion< T > &	operator*= (Quaternion< T > const &rhs)
	Quaternion self-multiplication.

Vector< T, 3 >	rotate (Vector< T, 3 > const &v) const
	Rotates a vector using the quaternion.

void	set (Vector< T, 3 > const &axis, T const &angle)
	Sets the quaternion from axis and angle.

void	set_from_rotation_matrix (T const *matrix)
	Sets the quaternion from an orthonormal rotation matrix.

void	to_rotation_matrix (T *matrix) const
	Conversion to a 3x3 rotation matrix.

Public Member Functions inherited from math::Vector< T, 4 >
	Vector (O const *values)
	Ctor taking a pointer from different type to initialize values.

	Vector (T const &v1, T const &v2)
	Ctor that initializes the first two elements.

	Vector (T const &v1, T const &v2, T const &v3)
	Ctor that initializes the first three elements.

	Vector (T const &v1, T const &v2, T const &v3, T const &v4)
	Ctor that initializes the first four elements.

	Vector (T const &value)
	Ctor that initializes ALL elements.

	Vector (T const *values)
	Ctor taking a pointer to initialize values.

	Vector (Vector< O, N > const &other)
	Copy ctor from vector of different type.

	Vector (Vector< T, N > const &other)
	Copy ctor from vector of same type.

	Vector (Vector< T, N-1 > const &other, T const &v1)
	Ctor that takes a smaller vector and one element.

	Vector (void)
	Default ctor.

T	abs_sum (void) const
	Returns the sum of the absolute values of all elements.

Vector< T, N > &	abs_value (void)
	Component-wise absolute-value on self, returns self.

Vector< T, N >	abs_valued (void) const
	Returns a component-wise absolute-value copy of self.

Vector< T, N >	applied_for_each (F functor) const
	Applies a for-each functor to a copy of the vector.

Vector< T, N > &	apply_for_each (F functor)
	Applies a for-each functor to all values.

T *	begin (void)

T const *	begin (void) const

Vector< T, N > &	copy (T const *values, int num=N)
	Copies values from the given pointer.

Vector< T, N >	cross (Vector< T, N > const &other) const
	Cross product between this and another vector.

Vector< T, N >	cw_div (Vector< T, N > const &other) const
	Component-wise division with another vector.

Vector< T, N >	cw_mult (Vector< T, N > const &other) const
	Component-wise multiplication with another vector.

T	dot (Vector< T, N > const &other) const
	Dot (or scalar) product between self and another vector.

T *	end (void)

T const *	end (void) const

Vector< T, N > &	fill (T const &value)
	Fills all vector elements with the given value.

bool	is_similar (Vector< T, N > const &other, T const &epsilon) const
	Component-wise similarity using epsilon checks.

T	maximum (void) const
	Returns the largest element in the vector.

T	minimum (void) const
	Returns the smallest element in the vector.

Vector< T, N > &	negate (void)
	Component-wise negation on self, returns self.

Vector< T, N >	negated (void) const
	Returns a component-wise negation on copy of self.

T	norm (void) const
	Computes the norm (length) of the vector.

Vector< T, N > &	normalize (void)
	Normalizes self and returns reference to self.

Vector< T, N >	normalized (void) const
	Returns a normalized copy of self.

bool	operator!= (Vector< T, N > const &rhs) const
	Comparison operator.

T &	operator() (int index)
	Element access operator.

T const &	operator() (int index) const
	Const element access operator.

Vector< T, N >	operator* (T const &rhs) const
	Component-wise multiplication with scalar.

T *	operator* (void)
	Dereference operator to value array.

T const *	operator* (void) const
	Const dereference operator to value array.

Vector< T, N > &	operator*= (T const &rhs)
	Component-wise self-multiplication with scalar.

Vector< T, N >	operator+ (T const &rhs) const
	Component-wise addition with scalar.

Vector< T, N >	operator+ (Vector< T, N > const &rhs) const
	Addition with other vector.

Vector< T, N > &	operator+= (T const &rhs)
	Component-wise self-addition with scalar.

Vector< T, N > &	operator+= (Vector< T, N > const &rhs)
	Self-addition with other vector.

Vector< T, N >	operator- (T const &rhs) const
	Component-wise substraction with scalar.

Vector< T, N >	operator- (Vector< T, N > const &rhs) const
	Substraction with other vector.

Vector< T, N >	operator- (void) const
	Component-wise negation.

Vector< T, N > &	operator-= (T const &rhs)
	Component-wise self-substraction with scalar.

Vector< T, N > &	operator-= (Vector< T, N > const &rhs)
	Self-substraction with other vector.

Vector< T, N >	operator/ (T const &rhs) const
	Component-wise division by scalar.

Vector< T, N > &	operator/= (T const &rhs)
	Component-wise self-division by scalar.

Vector< T, N > &	operator= (Vector< O, N > const &rhs)
	Assignment operator from different type.

Vector< T, N > &	operator= (Vector< T, N > const &rhs)
	Assignment operator.

bool	operator== (Vector< T, N > const &rhs) const
	Comparison operator.

T &	operator[] (int index)
	Element access operator.

T const &	operator[] (int index) const
	Const element access operator.

T	product (void) const
	Returns the product of all elements.

Vector< T, N > &	sort_asc (void)
	Sorts the elements of the vector into ascending order.

Vector< T, N > &	sort_desc (void)
	Sorts the elements of the vector into descending order.

Vector< T, N >	sorted_asc (void) const
	Returns a sorted vector into ascending order.

Vector< T, N >	sorted_desc (void) const
	Returns a sorted vector into descending order.

T	square_norm (void) const
	Computes the squared norm of the vector (much cheaper).

T	sum (void) const
	Returns the sum of all elements.

Additional Inherited Members
Public Types inherited from math::Vector< T, 4 >
typedef T	ValueType

Static Public Attributes inherited from math::Vector< T, 4 >
static int constexpr	dim

Protected Attributes inherited from math::Vector< T, 4 >
T	v [N]

Detailed Description

template<class T>
class math::Quaternion< T >

Quaternion class for arbitrary types (WORK IN PROGRESS).

Definition at line 30 of file quaternion.h.

Constructor & Destructor Documentation

◆ Quaternion() [1/4]

template<typename T >

math::Quaternion< T >::Quaternion ( void )

inline

Creates a new, uninitialized quaternion.

Definition at line 98 of file quaternion.h.

◆ Quaternion() [2/4]

template<typename T >

math::Quaternion< T >::Quaternion ( T const & value )

inline

Constructor that initializes ALL values.

Definition at line 104 of file quaternion.h.

◆ Quaternion() [3/4]

template<typename T >

math::Quaternion< T >::Quaternion	(	T const &	v1,
		T const &	v2,
		T const &	v3,
		T const &	v4
	)

inline

Constructor that takes all quaternion values.

Definition at line 111 of file quaternion.h.

◆ Quaternion() [4/4]

template<typename T >

math::Quaternion< T >::Quaternion	(	Vector< T, 3 > const &	axis,
		T const &	angle
	)

inline

Creates a quaternion from axis and angle.

Definition at line 121 of file quaternion.h.

Member Function Documentation

◆ conjugate()

template<typename T >

Quaternion< T > & math::Quaternion< T >::conjugate ( void )

inline

Conjugates self and returns reference to self.

Definition at line 267 of file quaternion.h.

◆ conjugated()

template<typename T >

Quaternion< T > math::Quaternion< T >::conjugated ( void ) const

inline

Returns a conjugated copy of self.

Definition at line 277 of file quaternion.h.

◆ get_axis_angle()

template<typename T >

void math::Quaternion< T >::get_axis_angle	(	T *	axis,
		T &	angle
	)

Provides the axis and angle of the quaternion.

Definition at line 182 of file quaternion.h.

◆ operator*()

template<typename T >

Quaternion< T > math::Quaternion< T >::operator* ( Quaternion< T > const & rhs ) const

inline

Quaternion with quaternion multiplication.

Definition at line 244 of file quaternion.h.

◆ operator*=()

template<typename T >

Quaternion< T > & math::Quaternion< T >::operator*= ( Quaternion< T > const & rhs )

inline

Quaternion self-multiplication.

Definition at line 259 of file quaternion.h.

◆ rotate()

template<typename T >

Vector< T, 3 > math::Quaternion< T >::rotate ( Vector< T, 3 > const & v ) const

Rotates a vector using the quaternion.

Definition at line 230 of file quaternion.h.

◆ set()

template<typename T >

void math::Quaternion< T >::set	(	Vector< T, 3 > const &	axis,
		T const &	angle
	)

inline

Sets the quaternion from axis and angle.

Definition at line 128 of file quaternion.h.

◆ set_from_rotation_matrix()

template<typename T >

void math::Quaternion< T >::set_from_rotation_matrix ( T const * matrix )

inline

Sets the quaternion from an orthonormal rotation matrix.

Definition at line 139 of file quaternion.h.

◆ to_rotation_matrix()

template<typename T >

void math::Quaternion< T >::to_rotation_matrix ( T * matrix ) const

Conversion to a 3x3 rotation matrix.

Definition at line 203 of file quaternion.h.

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

/builddir/build/BUILD/mve-354a652461377939ca136f451ba3271a1c52ee65/libs/math/quaternion.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/4]

◆ Quaternion() [2/4]

◆ Quaternion() [3/4]

◆ Quaternion() [4/4]

Member Function Documentation

◆ conjugate()

◆ conjugated()

◆ get_axis_angle()

◆ operator*()

◆ operator*=()

◆ rotate()

◆ set()

◆ set_from_rotation_matrix()

◆ to_rotation_matrix()