source: flair-dev/trunk/doc/Flair/classflair_1_1core_1_1_quaternion.html @ 94

Last change on this file since 94 was 94, checked in by Sanahuja Guillaume, 22 months ago

draw vrpn axis in simulator
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111<a href="#pub-methods">Public Member Functions</a> &#124;
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118
119<p>Class defining a quaternion. 
120 <a href="classflair_1_1core_1_1_quaternion.html#details">More...</a></p>
121
122<p><code>#include &lt;<a class="el" href="_quaternion_8h_source.html">Quaternion.h</a>&gt;</code></p>
123<table class="memberdecls">
124<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
125Public Member Functions</h2></td></tr>
126<tr class="memitem:a35151d7d2158d0a4714a66d2d426cf9c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a35151d7d2158d0a4714a66d2d426cf9c">Quaternion</a> (float <a class="el" href="classflair_1_1core_1_1_quaternion.html#a5394aa98e53d17253efd3c5eaca11fb2">q0</a>=1, float <a class="el" href="classflair_1_1core_1_1_quaternion.html#aaaea36fb6b8a1ae444f879e509cb4db5">q1</a>=0, float <a class="el" href="classflair_1_1core_1_1_quaternion.html#a47c497424771521c976143ef07bc7da1">q2</a>=0, float <a class="el" href="classflair_1_1core_1_1_quaternion.html#aabf0e55b55e7c66716494c5d7f343e70">q3</a>=0)</td></tr>
127<tr class="memdesc:a35151d7d2158d0a4714a66d2d426cf9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a35151d7d2158d0a4714a66d2d426cf9c">More...</a><br /></td></tr>
128<tr class="separator:a35151d7d2158d0a4714a66d2d426cf9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
129<tr class="memitem:a7aa88aa352e17590e0f9b454357fdbfc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a7aa88aa352e17590e0f9b454357fdbfc">~Quaternion</a> ()</td></tr>
130<tr class="memdesc:a7aa88aa352e17590e0f9b454357fdbfc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a7aa88aa352e17590e0f9b454357fdbfc">More...</a><br /></td></tr>
131<tr class="separator:a7aa88aa352e17590e0f9b454357fdbfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
132<tr class="memitem:a6931ec913f61c9708ef5970e63f8b0b5"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a6931ec913f61c9708ef5970e63f8b0b5">GetNorm</a> (void) const </td></tr>
133<tr class="memdesc:a6931ec913f61c9708ef5970e63f8b0b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Norm.  <a href="#a6931ec913f61c9708ef5970e63f8b0b5">More...</a><br /></td></tr>
134<tr class="separator:a6931ec913f61c9708ef5970e63f8b0b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
135<tr class="memitem:aa540ffe227bbacd124c77f95d8c720b3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#aa540ffe227bbacd124c77f95d8c720b3">Normalize</a> (void)</td></tr>
136<tr class="memdesc:aa540ffe227bbacd124c77f95d8c720b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize.  <a href="#aa540ffe227bbacd124c77f95d8c720b3">More...</a><br /></td></tr>
137<tr class="separator:aa540ffe227bbacd124c77f95d8c720b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
138<tr class="memitem:a4753cafd0c78d78a6e6d0200a4cc596f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a4753cafd0c78d78a6e6d0200a4cc596f">GetLogarithm</a> (<a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> &amp;logarithm)</td></tr>
139<tr class="memdesc:a4753cafd0c78d78a6e6d0200a4cc596f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Logarithm.  <a href="#a4753cafd0c78d78a6e6d0200a4cc596f">More...</a><br /></td></tr>
140<tr class="separator:a4753cafd0c78d78a6e6d0200a4cc596f"><td class="memSeparator" colspan="2">&#160;</td></tr>
141<tr class="memitem:abbda897244c722294de3812bfe7a595b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#abbda897244c722294de3812bfe7a595b">GetLogarithm</a> (void)</td></tr>
142<tr class="memdesc:abbda897244c722294de3812bfe7a595b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Logarithm.  <a href="#abbda897244c722294de3812bfe7a595b">More...</a><br /></td></tr>
143<tr class="separator:abbda897244c722294de3812bfe7a595b"><td class="memSeparator" colspan="2">&#160;</td></tr>
144<tr class="memitem:ae3cf1c1892b4d1c70ca055e42709f9df"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ae3cf1c1892b4d1c70ca055e42709f9df">Conjugate</a> (void)</td></tr>
145<tr class="memdesc:ae3cf1c1892b4d1c70ca055e42709f9df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conjugate.  <a href="#ae3cf1c1892b4d1c70ca055e42709f9df">More...</a><br /></td></tr>
146<tr class="separator:ae3cf1c1892b4d1c70ca055e42709f9df"><td class="memSeparator" colspan="2">&#160;</td></tr>
147<tr class="memitem:ab7b4f5b1f7419f6179f4fccc49e4e173"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ab7b4f5b1f7419f6179f4fccc49e4e173">GetConjugate</a> (void)</td></tr>
148<tr class="memdesc:ab7b4f5b1f7419f6179f4fccc49e4e173"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conjugate.  <a href="#ab7b4f5b1f7419f6179f4fccc49e4e173">More...</a><br /></td></tr>
149<tr class="separator:ab7b4f5b1f7419f6179f4fccc49e4e173"><td class="memSeparator" colspan="2">&#160;</td></tr>
150<tr class="memitem:a08b196fb32f87dd62e6a3906e5ecaf2c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a08b196fb32f87dd62e6a3906e5ecaf2c">GetDerivative</a> (const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> &amp;angularSpeed) const </td></tr>
151<tr class="memdesc:a08b196fb32f87dd62e6a3906e5ecaf2c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Derivative.  <a href="#a08b196fb32f87dd62e6a3906e5ecaf2c">More...</a><br /></td></tr>
152<tr class="separator:a08b196fb32f87dd62e6a3906e5ecaf2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
153<tr class="memitem:a9be083f02e545535ba9dde0dd2ecbcb7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a9be083f02e545535ba9dde0dd2ecbcb7">Derivate</a> (const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> &amp;angularSpeed)</td></tr>
154<tr class="memdesc:a9be083f02e545535ba9dde0dd2ecbcb7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Derivate.  <a href="#a9be083f02e545535ba9dde0dd2ecbcb7">More...</a><br /></td></tr>
155<tr class="separator:a9be083f02e545535ba9dde0dd2ecbcb7"><td class="memSeparator" colspan="2">&#160;</td></tr>
156<tr class="memitem:a5d45a89dbbb73633701e344259e8b003"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a5d45a89dbbb73633701e344259e8b003">ToEuler</a> (<a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a> &amp;euler) const </td></tr>
157<tr class="memdesc:a5d45a89dbbb73633701e344259e8b003"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert to euler angles.  <a href="#a5d45a89dbbb73633701e344259e8b003">More...</a><br /></td></tr>
158<tr class="separator:a5d45a89dbbb73633701e344259e8b003"><td class="memSeparator" colspan="2">&#160;</td></tr>
159<tr class="memitem:ad98cdabf355956519d718aac330174ef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#ad98cdabf355956519d718aac330174ef">ToEuler</a> (void) const </td></tr>
160<tr class="memdesc:ad98cdabf355956519d718aac330174ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert to euler angles.  <a href="#ad98cdabf355956519d718aac330174ef">More...</a><br /></td></tr>
161<tr class="separator:ad98cdabf355956519d718aac330174ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
162<tr class="memitem:a29d40f4afe4fa2f79a08a09619a4fc1a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a29d40f4afe4fa2f79a08a09619a4fc1a">ToRotationMatrix</a> (<a class="el" href="classflair_1_1core_1_1_rotation_matrix.html">RotationMatrix</a> &amp;matrix) const </td></tr>
163<tr class="memdesc:a29d40f4afe4fa2f79a08a09619a4fc1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert to rotation matrix.  <a href="#a29d40f4afe4fa2f79a08a09619a4fc1a">More...</a><br /></td></tr>
164<tr class="separator:a29d40f4afe4fa2f79a08a09619a4fc1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
165<tr class="memitem:a4f3a6012a315db41398417d0b93704ec"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4f3a6012a315db41398417d0b93704ec"></a>
166<a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator+=</b> (const <a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
167<tr class="separator:a4f3a6012a315db41398417d0b93704ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
168<tr class="memitem:aec35455d090ebfdf8323b5019f9923bd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec35455d090ebfdf8323b5019f9923bd"></a>
169<a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator-=</b> (const <a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
170<tr class="separator:aec35455d090ebfdf8323b5019f9923bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
171<tr class="memitem:a48f3e9b60017cbc8d7e9af035f85f3bf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48f3e9b60017cbc8d7e9af035f85f3bf"></a>
172<a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
173<tr class="separator:a48f3e9b60017cbc8d7e9af035f85f3bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
174</table><table class="memberdecls">
175<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
176Public Attributes</h2></td></tr>
177<tr class="memitem:a5394aa98e53d17253efd3c5eaca11fb2"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a5394aa98e53d17253efd3c5eaca11fb2">q0</a></td></tr>
178<tr class="memdesc:a5394aa98e53d17253efd3c5eaca11fb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">q0  <a href="#a5394aa98e53d17253efd3c5eaca11fb2">More...</a><br /></td></tr>
179<tr class="separator:a5394aa98e53d17253efd3c5eaca11fb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
180<tr class="memitem:aaaea36fb6b8a1ae444f879e509cb4db5"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#aaaea36fb6b8a1ae444f879e509cb4db5">q1</a></td></tr>
181<tr class="memdesc:aaaea36fb6b8a1ae444f879e509cb4db5"><td class="mdescLeft">&#160;</td><td class="mdescRight">q1  <a href="#aaaea36fb6b8a1ae444f879e509cb4db5">More...</a><br /></td></tr>
182<tr class="separator:aaaea36fb6b8a1ae444f879e509cb4db5"><td class="memSeparator" colspan="2">&#160;</td></tr>
183<tr class="memitem:a47c497424771521c976143ef07bc7da1"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#a47c497424771521c976143ef07bc7da1">q2</a></td></tr>
184<tr class="memdesc:a47c497424771521c976143ef07bc7da1"><td class="mdescLeft">&#160;</td><td class="mdescRight">q2  <a href="#a47c497424771521c976143ef07bc7da1">More...</a><br /></td></tr>
185<tr class="separator:a47c497424771521c976143ef07bc7da1"><td class="memSeparator" colspan="2">&#160;</td></tr>
186<tr class="memitem:aabf0e55b55e7c66716494c5d7f343e70"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classflair_1_1core_1_1_quaternion.html#aabf0e55b55e7c66716494c5d7f343e70">q3</a></td></tr>
187<tr class="memdesc:aabf0e55b55e7c66716494c5d7f343e70"><td class="mdescLeft">&#160;</td><td class="mdescRight">q3  <a href="#aabf0e55b55e7c66716494c5d7f343e70">More...</a><br /></td></tr>
188<tr class="separator:aabf0e55b55e7c66716494c5d7f343e70"><td class="memSeparator" colspan="2">&#160;</td></tr>
189</table>
190<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
191<div class="textblock"><p>Class defining a quaternion. </p>
192</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
193<a class="anchor" id="a35151d7d2158d0a4714a66d2d426cf9c"></a>
194<div class="memitem">
195<div class="memproto">
196      <table class="memname">
197        <tr>
198          <td class="memname">flair::core::Quaternion::Quaternion </td>
199          <td>(</td>
200          <td class="paramtype">float&#160;</td>
201          <td class="paramname"><em>q0</em> = <code>1</code>, </td>
202        </tr>
203        <tr>
204          <td class="paramkey"></td>
205          <td></td>
206          <td class="paramtype">float&#160;</td>
207          <td class="paramname"><em>q1</em> = <code>0</code>, </td>
208        </tr>
209        <tr>
210          <td class="paramkey"></td>
211          <td></td>
212          <td class="paramtype">float&#160;</td>
213          <td class="paramname"><em>q2</em> = <code>0</code>, </td>
214        </tr>
215        <tr>
216          <td class="paramkey"></td>
217          <td></td>
218          <td class="paramtype">float&#160;</td>
219          <td class="paramname"><em>q3</em> = <code>0</code>&#160;</td>
220        </tr>
221        <tr>
222          <td></td>
223          <td>)</td>
224          <td></td><td></td>
225        </tr>
226      </table>
227</div><div class="memdoc">
228
229<p>Constructor. </p>
230<p>Construct a quaternion using specified values.</p>
231<dl class="params"><dt>Parameters</dt><dd>
232  <table class="params">
233    <tr><td class="paramname">q0,scalar</td><td>part </td></tr>
234    <tr><td class="paramname">q1</td><td></td></tr>
235    <tr><td class="paramname">q2</td><td></td></tr>
236    <tr><td class="paramname">q3</td><td></td></tr>
237  </table>
238  </dd>
239</dl>
240
241</div>
242</div>
243<a class="anchor" id="a7aa88aa352e17590e0f9b454357fdbfc"></a>
244<div class="memitem">
245<div class="memproto">
246      <table class="memname">
247        <tr>
248          <td class="memname">flair::core::Quaternion::~Quaternion </td>
249          <td>(</td>
250          <td class="paramname"></td><td>)</td>
251          <td></td>
252        </tr>
253      </table>
254</div><div class="memdoc">
255
256<p>Destructor. </p>
257
258</div>
259</div>
260<h2 class="groupheader">Member Function Documentation</h2>
261<a class="anchor" id="a6931ec913f61c9708ef5970e63f8b0b5"></a>
262<div class="memitem">
263<div class="memproto">
264      <table class="memname">
265        <tr>
266          <td class="memname">float flair::core::Quaternion::GetNorm </td>
267          <td>(</td>
268          <td class="paramtype">void&#160;</td>
269          <td class="paramname"></td><td>)</td>
270          <td> const</td>
271        </tr>
272      </table>
273</div><div class="memdoc">
274
275<p>Norm. </p>
276<dl class="section return"><dt>Returns</dt><dd>norm </dd></dl>
277
278</div>
279</div>
280<a class="anchor" id="aa540ffe227bbacd124c77f95d8c720b3"></a>
281<div class="memitem">
282<div class="memproto">
283      <table class="memname">
284        <tr>
285          <td class="memname">void flair::core::Quaternion::Normalize </td>
286          <td>(</td>
287          <td class="paramtype">void&#160;</td>
288          <td class="paramname"></td><td>)</td>
289          <td></td>
290        </tr>
291      </table>
292</div><div class="memdoc">
293
294<p>Normalize. </p>
295
296</div>
297</div>
298<a class="anchor" id="a4753cafd0c78d78a6e6d0200a4cc596f"></a>
299<div class="memitem">
300<div class="memproto">
301      <table class="memname">
302        <tr>
303          <td class="memname">void flair::core::Quaternion::GetLogarithm </td>
304          <td>(</td>
305          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> &amp;&#160;</td>
306          <td class="paramname"><em>logarithm</em></td><td>)</td>
307          <td></td>
308        </tr>
309      </table>
310</div><div class="memdoc">
311
312<p>Logarithm. </p>
313<p>This method also Normalize the quaternion.</p>
314<dl class="params"><dt>Parameters</dt><dd>
315  <table class="params">
316    <tr><td class="paramname">logarithm</td><td>output logarithm </td></tr>
317  </table>
318  </dd>
319</dl>
320
321</div>
322</div>
323<a class="anchor" id="abbda897244c722294de3812bfe7a595b"></a>
324<div class="memitem">
325<div class="memproto">
326      <table class="memname">
327        <tr>
328          <td class="memname"><a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> flair::core::Quaternion::GetLogarithm </td>
329          <td>(</td>
330          <td class="paramtype">void&#160;</td>
331          <td class="paramname"></td><td>)</td>
332          <td></td>
333        </tr>
334      </table>
335</div><div class="memdoc">
336
337<p>Logarithm. </p>
338<p>This method also Normalize the quaternion.</p>
339<dl class="section return"><dt>Returns</dt><dd>output logarithm </dd></dl>
340
341</div>
342</div>
343<a class="anchor" id="ae3cf1c1892b4d1c70ca055e42709f9df"></a>
344<div class="memitem">
345<div class="memproto">
346      <table class="memname">
347        <tr>
348          <td class="memname">void flair::core::Quaternion::Conjugate </td>
349          <td>(</td>
350          <td class="paramtype">void&#160;</td>
351          <td class="paramname"></td><td>)</td>
352          <td></td>
353        </tr>
354      </table>
355</div><div class="memdoc">
356
357<p>Conjugate. </p>
358
359</div>
360</div>
361<a class="anchor" id="ab7b4f5b1f7419f6179f4fccc49e4e173"></a>
362<div class="memitem">
363<div class="memproto">
364      <table class="memname">
365        <tr>
366          <td class="memname"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> flair::core::Quaternion::GetConjugate </td>
367          <td>(</td>
368          <td class="paramtype">void&#160;</td>
369          <td class="paramname"></td><td>)</td>
370          <td></td>
371        </tr>
372      </table>
373</div><div class="memdoc">
374
375<p>Conjugate. </p>
376<dl class="section return"><dt>Returns</dt><dd>Conjugate </dd></dl>
377
378</div>
379</div>
380<a class="anchor" id="a08b196fb32f87dd62e6a3906e5ecaf2c"></a>
381<div class="memitem">
382<div class="memproto">
383      <table class="memname">
384        <tr>
385          <td class="memname"><a class="el" href="classflair_1_1core_1_1_quaternion.html">Quaternion</a> flair::core::Quaternion::GetDerivative </td>
386          <td>(</td>
387          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> &amp;&#160;</td>
388          <td class="paramname"><em>angularSpeed</em></td><td>)</td>
389          <td> const</td>
390        </tr>
391      </table>
392</div><div class="memdoc">
393
394<p>Derivative. </p>
395<dl class="params"><dt>Parameters</dt><dd>
396  <table class="params">
397    <tr><td class="paramname">w</td><td>angular speed</td></tr>
398  </table>
399  </dd>
400</dl>
401<dl class="section return"><dt>Returns</dt><dd>derivative </dd></dl>
402
403</div>
404</div>
405<a class="anchor" id="a9be083f02e545535ba9dde0dd2ecbcb7"></a>
406<div class="memitem">
407<div class="memproto">
408      <table class="memname">
409        <tr>
410          <td class="memname">void flair::core::Quaternion::Derivate </td>
411          <td>(</td>
412          <td class="paramtype">const <a class="el" href="classflair_1_1core_1_1_vector3_d.html">Vector3Df</a> &amp;&#160;</td>
413          <td class="paramname"><em>angularSpeed</em></td><td>)</td>
414          <td></td>
415        </tr>
416      </table>
417</div><div class="memdoc">
418
419<p>Derivate. </p>
420<dl class="params"><dt>Parameters</dt><dd>
421  <table class="params">
422    <tr><td class="paramname">w</td><td>rotationonal speed </td></tr>
423  </table>
424  </dd>
425</dl>
426
427</div>
428</div>
429<a class="anchor" id="a5d45a89dbbb73633701e344259e8b003"></a>
430<div class="memitem">
431<div class="memproto">
432      <table class="memname">
433        <tr>
434          <td class="memname">void flair::core::Quaternion::ToEuler </td>
435          <td>(</td>
436          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a> &amp;&#160;</td>
437          <td class="paramname"><em>euler</em></td><td>)</td>
438          <td> const</td>
439        </tr>
440      </table>
441</div><div class="memdoc">
442
443<p>Convert to euler angles. </p>
444<dl class="params"><dt>Parameters</dt><dd>
445  <table class="params">
446    <tr><td class="paramname">euler</td><td>output euler angles </td></tr>
447  </table>
448  </dd>
449</dl>
450
451</div>
452</div>
453<a class="anchor" id="ad98cdabf355956519d718aac330174ef"></a>
454<div class="memitem">
455<div class="memproto">
456      <table class="memname">
457        <tr>
458          <td class="memname"><a class="el" href="classflair_1_1core_1_1_euler.html">Euler</a> flair::core::Quaternion::ToEuler </td>
459          <td>(</td>
460          <td class="paramtype">void&#160;</td>
461          <td class="paramname"></td><td>)</td>
462          <td> const</td>
463        </tr>
464      </table>
465</div><div class="memdoc">
466
467<p>Convert to euler angles. </p>
468<dl class="section return"><dt>Returns</dt><dd>euler angles </dd></dl>
469
470</div>
471</div>
472<a class="anchor" id="a29d40f4afe4fa2f79a08a09619a4fc1a"></a>
473<div class="memitem">
474<div class="memproto">
475      <table class="memname">
476        <tr>
477          <td class="memname">void flair::core::Quaternion::ToRotationMatrix </td>
478          <td>(</td>
479          <td class="paramtype"><a class="el" href="classflair_1_1core_1_1_rotation_matrix.html">RotationMatrix</a> &amp;&#160;</td>
480          <td class="paramname"><em>matrix</em></td><td>)</td>
481          <td> const</td>
482        </tr>
483      </table>
484</div><div class="memdoc">
485
486<p>Convert to rotation matrix. </p>
487<dl class="params"><dt>Parameters</dt><dd>
488  <table class="params">
489    <tr><td class="paramname">m</td><td>output matrix </td></tr>
490  </table>
491  </dd>
492</dl>
493
494</div>
495</div>
496<h2 class="groupheader">Member Data Documentation</h2>
497<a class="anchor" id="a5394aa98e53d17253efd3c5eaca11fb2"></a>
498<div class="memitem">
499<div class="memproto">
500      <table class="memname">
501        <tr>
502          <td class="memname">float flair::core::Quaternion::q0</td>
503        </tr>
504      </table>
505</div><div class="memdoc">
506
507<p>q0 </p>
508
509</div>
510</div>
511<a class="anchor" id="aaaea36fb6b8a1ae444f879e509cb4db5"></a>
512<div class="memitem">
513<div class="memproto">
514      <table class="memname">
515        <tr>
516          <td class="memname">float flair::core::Quaternion::q1</td>
517        </tr>
518      </table>
519</div><div class="memdoc">
520
521<p>q1 </p>
522
523</div>
524</div>
525<a class="anchor" id="a47c497424771521c976143ef07bc7da1"></a>
526<div class="memitem">
527<div class="memproto">
528      <table class="memname">
529        <tr>
530          <td class="memname">float flair::core::Quaternion::q2</td>
531        </tr>
532      </table>
533</div><div class="memdoc">
534
535<p>q2 </p>
536
537</div>
538</div>
539<a class="anchor" id="aabf0e55b55e7c66716494c5d7f343e70"></a>
540<div class="memitem">
541<div class="memproto">
542      <table class="memname">
543        <tr>
544          <td class="memname">float flair::core::Quaternion::q3</td>
545        </tr>
546      </table>
547</div><div class="memdoc">
548
549<p>q3 </p>
550
551</div>
552</div>
553</div><!-- contents -->
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