flair::core::Quaternion Class Reference

Class defining a quaternion. More...

#include <Quaternion.h>

Public Member Functions
	Quaternion (float q0=1, float q1=0, float q2=0, float q3=0)
	Constructor. More...
	~Quaternion ()
	Destructor. More...
float	GetNorm (void) const
	Norm. More...
void	Normalize (void)
	Normalize. More...
void	GetLogarithm (Vector3Df &logarithm)
	Logarithm. More...
Vector3Df	GetLogarithm (void)
	Logarithm. More...
void	Conjugate (void)
	Conjugate. More...
Quaternion	GetConjugate (void)
	Conjugate. More...
Quaternion	GetDerivative (const Vector3Df &angularSpeed) const
	Derivative. More...
void	Derivate (const Vector3Df &angularSpeed)
	Derivate. More...
void	ToEuler (Euler &euler) const
	Convert to euler angles. More...
Euler	ToEuler (void) const
	Convert to euler angles. More...
void	ToRotationMatrix (RotationMatrix &matrix) const
	Convert to rotation matrix. More...
Quaternion &	operator+= (const Quaternion &quaternion)
Quaternion &	operator-= (const Quaternion &quaternion)
Quaternion &	operator= (const Quaternion &quaternion)

Public Attributes
float	q0
	q0 More...
float	q1
	q1 More...
float	q2
	q2 More...
float	q3
	q3 More...

Detailed Description

Class defining a quaternion.

Constructor & Destructor Documentation

flair::core::Quaternion::Quaternion	(	float	q0 = 1,
		float	q1 = 0,
		float	q2 = 0,
		float	q3 = 0
	)

Constructor.

Construct a quaternion using specified values.

Parameters

q0,scalar	part
q1
q2
q3

flair::core::Quaternion::~Quaternion

(

)

Destructor.

Member Function Documentation

float flair::core::Quaternion::GetNorm

(

void

)

const

Norm.

Returns

norm

void flair::core::Quaternion::Normalize

(

void

)

Normalize.

void flair::core::Quaternion::GetLogarithm

(

Vector3Df &

logarithm

)

Logarithm.

This method also Normalize the quaternion.

Parameters

logarithm

output logarithm

Vector3Df flair::core::Quaternion::GetLogarithm

(

void

)

Logarithm.

This method also Normalize the quaternion.

Returns

output logarithm

void flair::core::Quaternion::Conjugate

(

void

)

Conjugate.

Quaternion flair::core::Quaternion::GetConjugate

(

void

)

Conjugate.

Returns

Conjugate

Quaternion flair::core::Quaternion::GetDerivative

(

const Vector3Df &

angularSpeed

)

const

Derivative.

Parameters

w	angular speed

Returns

derivative

void flair::core::Quaternion::Derivate

(

const Vector3Df &

angularSpeed

)

Derivate.

Parameters

w	rotationonal speed

void flair::core::Quaternion::ToEuler

(

Euler &

euler

)

const

Convert to euler angles.

Parameters

euler

output euler angles

Euler flair::core::Quaternion::ToEuler

(

void

)

const

Convert to euler angles.

Returns

euler angles

void flair::core::Quaternion::ToRotationMatrix

(

RotationMatrix &

matrix

)

const

Convert to rotation matrix.

Parameters

m	output matrix

Member Data Documentation

float flair::core::Quaternion::q0

q0

float flair::core::Quaternion::q1

q1

float flair::core::Quaternion::q2

q2

float flair::core::Quaternion::q3

q3