cpe::quaternion Class Reference

Quaternion class. More...

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List of all members.

Public Member Functions
	quaternion ()
	default constructor
	quaternion (const v3 &axis, const double &angle)
	constructor from axis and angle
	quaternion (const v4 &entries)
	direct constructor
v3	axis () const
	get the unit axis corresponding to the quaternion
double	angle () const
	get the angle corresponding to the quaternion
matrix3	matrix () const
	compute the rotation matrix associated to the current quaternion
quaternion	conjugated () const
	get the conjugate of the current quaterion
void	compute_w ()
	compute w value such that we have a unit quaternion
quaternion &	operator*= (const quaternion &q1)
	internal multiplication between quaternion
quaternion	operator- () const
	opposite
Static Public Member Functions
static quaternion	slerp (const quaternion &q0, const quaternion &q1, const double &t)
	Spherical Linear Interpolation SLERP.
Friends
quaternion	operator* (const quaternion &q0, const quaternion &q1)
	multiplication between quaternion
v3	operator* (const quaternion &q, const v3 &v)
	multiplication with a vector

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Detailed Description

Quaternion class.

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Constructor & Destructor Documentation

cpe::quaternion::quaternion

(

)

default constructor

Referenced by conjugated(), and operator-().

cpe::quaternion::quaternion	(	const v3 &	axis,
		const double &	angle
	)

constructor from axis and angle

References cpe::v3::normalized(), cpe::v4::w(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

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cpe::quaternion::quaternion

(

const v4 &

entries

)

direct constructor

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Member Function Documentation

double cpe::quaternion::angle

(

)

const

get the angle corresponding to the quaternion

References cpe::v4::w().

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v3 cpe::quaternion::axis

(

)

const

get the unit axis corresponding to the quaternion

References cpe::v3::normalized(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

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void cpe::quaternion::compute_w

(

)

compute w value such that we have a unit quaternion

References cpe::v4::w(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

Referenced by Animation::load().

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quaternion cpe::quaternion::conjugated

(

)

const

get the conjugate of the current quaterion

References quaternion(), cpe::v4::v4(), cpe::v4::w(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

Referenced by cpe::trackball::apply_rotation(), and cpe::navigator_tool::camera_orientation().

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matrix3 cpe::quaternion::matrix

(

)

const

compute the rotation matrix associated to the current quaternion

Returns:

a 3x3 rotation matrix

References cpe::v4::w(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

Referenced by cpe::navigator_tool::camera_orientation().

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quaternion & cpe::quaternion::operator*=

(

const quaternion &

q1

)

internal multiplication between quaternion

References cpe::v3::cross(), cpe::v3::dot(), cpe::v4::w(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

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quaternion cpe::quaternion::operator-

(

)

const

opposite

Reimplemented from cpe::v4.

References quaternion(), cpe::v4::v4(), cpe::v4::w(), cpe::v4::x(), cpe::v4::y(), and cpe::v4::z().

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quaternion cpe::quaternion::slerp	(	const quaternion &	q0,
		const quaternion &	q1,
		const double &	t
	)			[static]

Spherical Linear Interpolation SLERP.

Use (sin((1-t) theta )q0 +sin(t theta)q1)/sin(theta) But same results with (q1 q0^{-1})^{t} q0 (q1*q0.invert()).pow_q(t)*q0)

References cpe::v4::dot(), and cpe::v4::norm().

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Friends And Related Function Documentation

v3 operator*	(	const quaternion &	q,
		const v3 &	v
	)			[friend]

multiplication with a vector

quaternion operator*	(	const quaternion &	q0,
		const quaternion &	q1
	)			[friend]

multiplication between quaternion

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

• /home/damien.rohmer/work/2011_teaching/2010_11_eti5/tp_skinning/skinning_part1/external/include/quaternion.hpp
• /home/damien.rohmer/work/2011_teaching/2010_11_eti5/tp_skinning/skinning_part1/external/src/quaternion.cpp