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...
float	GetEulerRoll (void) const
	Get roll euler angle. More...
float	GetEulerPitch (void) const
	Get pitch euler angle. More...
float	GetEulerYaw (void) const
	Get yaw euler angle. 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

float flair::core::Quaternion::GetEulerRoll

(

void

)

const

Get roll euler angle.

Returns

roll euler angle

float flair::core::Quaternion::GetEulerPitch

(

void

)

const

Get pitch euler angle.

Returns

pitch euler angle

float flair::core::Quaternion::GetEulerYaw

(

void

)

const

Get yaw euler angle.

Returns

yaw euler angle

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