found::Quaternion Class Reference

#include <attitude-utils.hpp>

Public Member Functions
	Quaternion (const Vec3 &)
	Quaternion (const Vec3 &, decimal)
	Quaternion (decimal real, decimal i, decimal j, decimal k)
Quaternion	operator* (const Quaternion &other) const
	Multiply two quaternions using the usual definition of quaternion multiplication (effectively composes rotations)
Quaternion	Conjugate () const
	Effectively computes a quaternion representing the inverse rotation of the original.
Vec3	Vector () const
	The vector formed by imaginary components of the quaternion. The axis of the represented rotation.
void	SetVector (const Vec3 &)
Vec3	Rotate (const Vec3 &) const
decimal	Angle () const
void	SetAngle (decimal)
EulerAngles	ToSpherical () const
bool	IsUnit (decimal tolerance) const
Quaternion	Canonicalize () const

Public Attributes
decimal	real
	The real component.
decimal	i
	The i component.
decimal	j
	The j component.
decimal	k
	The k component.

Detailed Description

A Quaternion is a mutable object that represents a Quaternion. A Quaternion is a common way to represent rotations in 3D.

Constructor & Destructor Documentation

Quaternion() [1/3]

found::Quaternion::Quaternion ( const Vec3 &  input )

explicit

Creates a "pure quaternion" with the given vector for imaginary parts and zero for real part.

Parameters

input

The vector representing the imaginary part of the Quaternion to create

Quaternion() [2/3]

found::Quaternion::Quaternion	(	const Vec3 &	input,
		decimal	theta
	)

Create a quaternion which represents a rotation of theta around the axis input

Parameters

input	the axis about which theta is defined
theta	the rotation about the input

Quaternion() [3/3]

found::Quaternion::Quaternion ( decimal  real, decimal  i, decimal  j, decimal  k  )

inline

Creates a Quaternion with components

Parameters

real	The real component
i	The i component
j	The j component
k	The k component

Initializes this to be {real + iI + jJ + kK}

Member Function Documentation

Angle()

decimal found::Quaternion::Angle

(

)

const

Provides the amount of rotations represented by this Quaterion

Returns

The amount of rotations represented by this, in radians

Canonicalize()

Quaternion found::Quaternion::Canonicalize

(

)

const

Provides the canonicalized Quaternion of this, if it is not already canonicalized

Returns

The canonicalized Quaternion of this, which is this iff this is a canonicalized Quaternion already, and a new Quaternion if it is not

IsUnit()

bool found::Quaternion::IsUnit

(

decimal

tolerance

)

const

Tells client if this Quarternion is a unit quaternion

Returns

true iff this is a unit Quaternion

Rotate()

Vec3 found::Quaternion::Rotate

(

const Vec3 &

input

)

const

Rotates a vector about this Quaternion

Parameters

input

The vector to rotate about this

Returns

The input vector that has been rotated about this

SetAngle()

void found::Quaternion::SetAngle

(

decimal

newAngle

)

Changes the rotation represented in this quarterion

Parameters

newAngle

The rotation angle this new quarternion should represent

Postcondition

Changes this by altering the rotation angle of this by newAngle

SetVector()

void found::Quaternion::SetVector

(

const Vec3 &

vec

)

Set imaginary components of Quarterion.

Parameters

vec	The vector holding the imaginary quantities

ToSpherical()

EulerAngles found::Quaternion::ToSpherical

(

)

const

Converts this Quarterion to a new system of Euler Angles by extracting the rotations described by this quarterion

Returns

An EulerAngles object representing this in with Euler Angles

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

• src/spatial/attitude-utils.hpp
• src/spatial/attitude-utils.cpp