opal::Quaternion Class Reference

#include <Quaternion.h>

List of all members.

Public Member Functions
OPAL_DECL	Quaternion ()
OPAL_DECL	Quaternion (real ww, real xx, real yy, real zz)
OPAL_DECL	Quaternion (const Quaternion &src)
OPAL_DECL void OPAL_CALL	set (real ww, real xx, real yy, real zz)
OPAL_DECL real OPAL_CALL	lengthSquared () const
OPAL_DECL real OPAL_CALL	length () const
OPAL_DECL void OPAL_CALL	normalize ()
OPAL_DECL void OPAL_CALL	getAngleAxis (real &angle, Vec3r &axis) const
OPAL_DECL real OPAL_CALL	getRoll () const
OPAL_DECL real OPAL_CALL	getPitch () const
OPAL_DECL real OPAL_CALL	getYaw () const
OPAL_DECL real &OPAL_CALL	operator[] (unsigned int i)
OPAL_DECL const real &OPAL_CALL	operator[] (unsigned int i) const
Public Attributes
real	w
real	x
real	y
real	z

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Detailed Description

Definition at line 42 of file Quaternion.h.

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Constructor & Destructor Documentation

opal::Quaternion::Quaternion (   )

Definition at line 40 of file Quaternion.cpp. References w, x, y, and z.

opal::Quaternion::Quaternion (  real  ww, real  xx, real  yy, real  zz )

Definition at line 48 of file Quaternion.cpp. References w, x, y, and z.

opal::Quaternion::Quaternion (  const Quaternion &  src  )

Definition at line 56 of file Quaternion.cpp. References w, x, y, and z.

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Member Function Documentation

void opal::Quaternion::getAngleAxis (  real &  angle, Vec3r &  axis )  const

Returns the equivalent rotation. Parameters: angle  in degrees axis  axis of rotation Note: Quaternion needs to be normalized first Definition at line 92 of file Quaternion.cpp. References opal::defaults::sensor::incline::axis, opal::radToDeg(), w, opal::Vec3r::x, x, opal::Vec3r::y, y, opal::Vec3r::z, and z. Referenced by opal::Matrix44r::setQuaternion().

real opal::Quaternion::getPitch (   )  const

Definition at line 123 of file Quaternion.cpp. References opal::radToDeg(), w, x, y, and z.

real opal::Quaternion::getRoll (   )  const

Definition at line 116 of file Quaternion.cpp. References opal::radToDeg(), w, x, y, and z.

real opal::Quaternion::getYaw (   )  const

Definition at line 128 of file Quaternion.cpp. References opal::radToDeg(), w, x, y, and z.

real opal::Quaternion::length (   )  const

Definition at line 77 of file Quaternion.cpp. References lengthSquared(). Referenced by normalize().

real opal::Quaternion::lengthSquared (   )  const

Definition at line 72 of file Quaternion.cpp. References w, x, y, and z. Referenced by length().

void opal::Quaternion::normalize (   )

Length will be one. Definition at line 82 of file Quaternion.cpp. References length().

const real & opal::Quaternion::operator[] (  unsigned int  i  )  const

Definition at line 148 of file Quaternion.cpp. References w, x, y, and z.

real & opal::Quaternion::operator[] (  unsigned int  i  )

Definition at line 135 of file Quaternion.cpp. References w, x, y, and z.

void opal::Quaternion::set (  real  ww, real  xx, real  yy, real  zz )

Definition at line 64 of file Quaternion.cpp. References w, x, y, and z.

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Member Data Documentation

real opal::Quaternion::w

Definition at line 45 of file Quaternion.h. Referenced by getAngleAxis(), getPitch(), getRoll(), getYaw(), lengthSquared(), opal::operator *(), opal::operator!=(), opal::operator+(), opal::operator-(), opal::operator<<(), opal::operator==(), operator[](), Quaternion(), and set().

real opal::Quaternion::x

Definition at line 46 of file Quaternion.h. Referenced by getAngleAxis(), getPitch(), getRoll(), getYaw(), lengthSquared(), opal::operator *(), opal::operator!=(), opal::operator+(), opal::operator-(), opal::operator<<(), opal::operator==(), operator[](), Quaternion(), and set().

real opal::Quaternion::y

Definition at line 47 of file Quaternion.h. Referenced by getAngleAxis(), getPitch(), getRoll(), getYaw(), lengthSquared(), opal::operator *(), opal::operator!=(), opal::operator+(), opal::operator-(), opal::operator<<(), opal::operator==(), operator[](), Quaternion(), and set().

real opal::Quaternion::z

Definition at line 48 of file Quaternion.h. Referenced by getAngleAxis(), getPitch(), getRoll(), getYaw(), lengthSquared(), opal::operator *(), opal::operator!=(), opal::operator+(), opal::operator-(), opal::operator<<(), opal::operator==(), operator[](), Quaternion(), and set().

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

• Quaternion.h
• Quaternion.cpp

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