Changeset 167 in flair-src for trunk/lib/FlairCore/src/Quaternion.cpp

Timestamp:

04/12/17 13:59:38 (7 years ago)

Author:

Sanahuja Guillaume

Message:

modifs pour template vectors

File:

• trunk/lib/FlairCore/src/Quaternion.cpp (modified) (3 diffs)

trunk/lib/FlairCore/src/Quaternion.cpp

@@ -17 +17 @@
 
 #include "Quaternion.h"
-#include "Vector3D.h"
 #include "Euler.h"
 #include "RotationMatrix.h"
@@ -63 +62 @@
 }
 
-void Quaternion::GetLogarithm(Vector3D &logarithm) {
+void Quaternion::GetLogarithm(Vector3Df &logarithm) {
   Normalize();
   float v_norm = sqrtf(q1 * q1 + q2 * q2 + q3 * q3);
@@ -79 +78 @@
 }
 
-Vector3D Quaternion::GetLogarithm(void) {
-  Vector3D vector;
+Vector3Df Quaternion::GetLogarithm(void) {
+  Vector3Df vector;
   GetLogarithm(vector);
   return vector;
 }
 
-Quaternion Quaternion::GetDerivative(const Vector3D &angularSpeed) const {
+Quaternion Quaternion::GetDerivative(const Vector3Df &angularSpeed) const {
   const Quaternion Qw(0, angularSpeed.x, angularSpeed.y, angularSpeed.z);
   return 0.5 * (*this) * Qw;
 }
 
-void Quaternion::Derivate(const Vector3D &angularSpeed) {
+void Quaternion::Derivate(const Vector3Df &angularSpeed) {
   Quaternion Q = GetDerivative(angularSpeed);
   (*this) = Q;