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Documentation                       Search   NLMISC::CQuatT Class Template Reference A Template quaternion. More... #include <quat.h> List of all members. Public Methods Object   CQuatT ()   CQuatT (T X, T Y, T Z, T W)   CQuatT (const CVector &axis, float angle)   ctor of a UNIT quaternion, from an angle axis. More...   CQuatT (const CAngleAxis &aa)   ctor of a UNIT quaternion, from an angle axis. More... Sets. void  set (T X, T Y, T Z, T W) Comparison bool  operator== (const CQuatT &a) const bool  equal (const CQuatT &a, float epsilon=1E-6f) const void  identity () bool  isIdentity () const 4D vector operations. CQuatT &  operator+= (const CQuatT &o) CQuatT &  operator-= (const CQuatT &o) CQuatT &  operator *= (T f) CQuatT &  operator/= (T f) CQuatT  operator+ (const CQuatT &o) const CQuatT  operator- (const CQuatT &o) const CQuatT  operator * (T f) const CQuatT  operator/ (T f) const CQuatT  operator- () const CQuatT  operator+ () const T  sqrnorm () const   return the square of the norm of the 4D vector. More... T  norm () const   return the norm of the 4D vector. More... void  normalize ()   Normalize the quaternion. More... CQuatT  normed () const   Return the quaternion normalized. More... Basic Quaternions operations. CQuatT  operator * (const CQuatT &) const   Quaternion multiplication/composition. More... CQuatT &  operator *= (const CQuatT &) void  invert ()   Invert this quaternion. If normalized, conjugate is faster and does same thing. More... CQuatT  inverted () const   return the quaternion inverted. More... CQuatT  conjugate () const   return the conjugate of this quaternion. More... To/From other orientation. CVector  getAxis () const   Return the equivalent Unit axis of this quaternion. More... float  getAngle () const   Return the equivalent angle of this quaternion. (in radian). More... CAngleAxis  getAngleAxis () const   Return the equivalent Unit AngleAxis of this quaternion. More... void  setAngleAxis (const CVector &axis, float angle)   Build a UNIT quaternion from an AngleAxis. More... void  setAngleAxis (const CAngleAxis &angAxis)   Build a UNIT quaternion from an AngleAxis. More... Misc. CQuatT  log ()   compute logn quaternion. More... CQuatT  exp ()   compute quaternion exponent. More... void  makeClosest (const CQuatT &o)   ensure that *this and q are on same side of hypersphere, ie dotProduct(*this,q) is >0, modifying this if necessary. More... void  serial (IStream &f)   serial. More... Static Public Methods Quaternions static functions. T  dotProduct (const CQuatT< T > &q0, const CQuatT< T > &q1)   Return the dotProduct of 2 quaternions. More... CQuatT  slerp (const CQuatT< T > &q0, const CQuatT< T > &q1, float t)   Quaternion spherical linear interpolation. More... CQuatT  squad (const CQuatT< T > &q0, const CQuatT< T > &tgtQ0, const CQuatT< T > &tgtQ1, const CQuatT< T > &q1, float t)   Quaternion Quadratic spherical linear interpolation. More... CQuatT  squadrev (const CAngleAxis &rot, const CQuatT< T > &q0, const CQuatT< T > &tgtQ0, const CQuatT< T > &tgtQ1, const CQuatT< T > &q1, float t)   Quaternion Quadratic spherical linear interpolation, with multi revision support. More... CQuatT  lnDif (const CQuatT &q0, const CQuatT &q1)   compute lnDiff of q0.inverted()*q1. More... Public Attributes T  x T  y T  z T  w Detailed Description template<class T> class NLMISC::CQuatT< T > A Template quaternion. Use CQuat and CQuatD. Author: Antoine Viau. , Nevrax France Date: 2000 Definition at line 74 of file quat.h. Constructor & Destructor Documentation template<class T> NLMISC::CQuatT< T >::CQuatT (    )  [inline]   Definition at line 84 of file quat.h. Referenced by NLMISC::CQuatT< float >::conjugate, NLMISC::CQuatT< float >::inverted, NLMISC::CQuatT< float >::normed, NLMISC::CQuatT< float >::operator *, NLMISC::CQuatT< float >::operator *=, NLMISC::CQuatT< float >::operator+, NLMISC::CQuatT< float >::operator+=, NLMISC::CQuatT< float >::operator-, NLMISC::CQuatT< float >::operator-=, NLMISC::CQuatT< float >::operator/, NLMISC::CQuatT< float >::operator/=, and NLMISC::CQuatT< float >::operator==. template<class T> NLMISC::CQuatT< T >::CQuatT (  T    X, T    Y, T    Z, T    W )  [inline]   Definition at line 85 of file quat.h. template<class T> NLMISC::CQuatT< T >::CQuatT (  const CVector &    axis, float    angle )  [inline]   ctor of a UNIT quaternion, from an angle axis. Definition at line 87 of file quat.h. template<class T> NLMISC::CQuatT< T >::CQuatT (  const CAngleAxis &    aa )  [inline]   ctor of a UNIT quaternion, from an angle axis. Definition at line 89 of file quat.h. Member Function Documentation template<class T> CQuatT NLMISC::CQuatT< T >::conjugate (    )  const [inline]   return the conjugate of this quaternion. Definition at line 139 of file quat.h. Referenced by invert. template<class T> T NLMISC::CQuatT< T >::dotProduct (  const CQuatT< T > &    q0, const CQuatT< T > &    q1 )  [static]   Return the dotProduct of 2 quaternions. Definition at line 309 of file quat.h. Referenced by makeClosest. template<class T> bool NLMISC::CQuatT< T >::equal (  const CQuatT< T > &    a, float    epsilon = 1E-6f )  const [inline]   Definition at line 227 of file quat.h. References w, x, y, and z. template<class T> CQuatT< T > NLMISC::CQuatT< T >::exp (    )    compute quaternion exponent. Definition at line 445 of file quat.h. References NLMISC::QuatEpsilon, x, y, and z. template<class T> float NLMISC::CQuatT< T >::getAngle (    )  const [inline]   Return the equivalent angle of this quaternion. (in radian). Definition at line 148 of file quat.h. template<class T> CAngleAxis NLMISC::CQuatT< T >::getAngleAxis (    )  const [inline]   Return the equivalent Unit AngleAxis of this quaternion. Definition at line 150 of file quat.h. template<class T> CVector NLMISC::CQuatT< T >::getAxis (    )  const [inline]   Return the equivalent Unit axis of this quaternion. Definition at line 146 of file quat.h. template<class T> void NLMISC::CQuatT< T >::identity (    )  [inline]   Definition at line 102 of file quat.h. Referenced by normalize. template<class T> void NLMISC::CQuatT< T >::invert (    )  [inline]   Invert this quaternion. If normalized, conjugate is faster and does same thing. Definition at line 265 of file quat.h. References conjugate, and sqrnorm. template<class T> CQuatT NLMISC::CQuatT< T >::inverted (    )  const [inline]   return the quaternion inverted. Definition at line 137 of file quat.h. template<class T> bool NLMISC::CQuatT< T >::isIdentity (    )  const [inline]   Definition at line 103 of file quat.h. template<class T> CQuatT< T > NLMISC::CQuatT< T >::lnDif (  const CQuatT< T > &    q0, const CQuatT< T > &    q1 )  [static]   compute lnDiff of q0.inverted()*q1. Definition at line 462 of file quat.h. template<class T> CQuatT< T > NLMISC::CQuatT< T >::log (    )    compute logn quaternion. Definition at line 427 of file quat.h. References NLMISC::QuatEpsilon, w, x, y, and z. template<class T> void NLMISC::CQuatT< T >::makeClosest (  const CQuatT< T > &    o )    ensure that *this and q are on same side of hypersphere, ie dotProduct(*this,q) is >0, modifying this if necessary. Definition at line 473 of file quat.h. References dotProduct. template<class T> T NLMISC::CQuatT< T >::norm (    )  const [inline]   return the norm of the 4D vector. Definition at line 121 of file quat.h. Referenced by normalize. template<class T> void NLMISC::CQuatT< T >::normalize (    )  [inline]   Normalize the quaternion. Definition at line 280 of file quat.h. References identity, and norm. template<class T> CQuatT NLMISC::CQuatT< T >::normed (    )  const [inline]   Return the quaternion normalized. Definition at line 125 of file quat.h. template<class T> CQuatT< T > NLMISC::CQuatT< T >::operator * (  const CQuatT< T > &    )  const [inline]   Quaternion multiplication/composition. Definition at line 242 of file quat.h. References w, x, y, and z. template<class T> CQuatT NLMISC::CQuatT< T >::operator * (  T    f )  const [inline]   Definition at line 114 of file quat.h. template<class T> CQuatT< T > & NLMISC::CQuatT< T >::operator *= (  const CQuatT< T > &    )  [inline]   Definition at line 256 of file quat.h. template<class T> CQuatT& NLMISC::CQuatT< T >::operator *= (  T    f )  [inline]   Definition at line 110 of file quat.h. template<class T> CQuatT NLMISC::CQuatT< T >::operator+ (    )  const [inline]   Definition at line 117 of file quat.h. template<class T> CQuatT NLMISC::CQuatT< T >::operator+ (  const CQuatT< T > &    o )  const [inline]   Definition at line 112 of file quat.h. template<class T> CQuatT& NLMISC::CQuatT< T >::operator+= (  const CQuatT< T > &    o )  [inline]   Definition at line 108 of file quat.h. template<class T> CQuatT NLMISC::CQuatT< T >::operator- (    )  const [inline]   Definition at line 116 of file quat.h. template<class T> CQuatT NLMISC::CQuatT< T >::operator- (  const CQuatT< T > &    o )  const [inline]   Definition at line 113 of file quat.h. template<class T> CQuatT& NLMISC::CQuatT< T >::operator-= (  const CQuatT< T > &    o )  [inline]   Definition at line 109 of file quat.h. template<class T> CQuatT NLMISC::CQuatT< T >::operator/ (  T    f )  const [inline]   Definition at line 115 of file quat.h. template<class T> CQuatT& NLMISC::CQuatT< T >::operator/= (  T    f )  [inline]   Definition at line 111 of file quat.h. template<class T> bool NLMISC::CQuatT< T >::operator== (  const CQuatT< T > &    a )  const [inline]   Definition at line 100 of file quat.h. template<class T> void NLMISC::CQuatT< T >::serial (  IStream &    f )  [inline]   serial. Definition at line 168 of file quat.h. template<class T> void NLMISC::CQuatT< T >::set (  T    X, T    Y, T    Z, T    W )  [inline]   Definition at line 95 of file quat.h. template<class T> void NLMISC::CQuatT< T >::setAngleAxis (  const CAngleAxis &    angAxis )  [inline]   Build a UNIT quaternion from an AngleAxis. Definition at line 155 of file quat.h. template<class T> void NLMISC::CQuatT< T >::setAngleAxis (  const CVector &    axis, float    angle )  [inline]   Build a UNIT quaternion from an AngleAxis. Definition at line 294 of file quat.h. References v, w, x, y, and z. Referenced by NLMISC::CQuatT< float >::CQuatT, and NLMISC::CQuatT< float >::setAngleAxis. template<class T> CQuatT< T > NLMISC::CQuatT< T >::slerp (  const CQuatT< T > &    q0, const CQuatT< T > &    q1, float    t )  [static]   Quaternion spherical linear interpolation. when t==0, ret==q0, when t==1, ret==q1. No hemisphere correction is made. Definition at line 317 of file quat.h. References t. Referenced by squad. template<class T> T NLMISC::CQuatT< T >::sqrnorm (    )  const [inline]   return the square of the norm of the 4D vector. Definition at line 119 of file quat.h. Referenced by invert, and NLMISC::CQuatT< float >::norm. template<class T> CQuatT< T > NLMISC::CQuatT< T >::squad (  const CQuatT< T > &    q0, const CQuatT< T > &    tgtQ0, const CQuatT< T > &    tgtQ1, const CQuatT< T > &    q1, float    t )  [static]   Quaternion Quadratic spherical linear interpolation. when t==0, ret==q0, when t==1, ret==q1. No hemisphere correction is made. Definition at line 355 of file quat.h. References slerp, and t. template<class T> CQuatT< T > NLMISC::CQuatT< T >::squadrev (  const CAngleAxis &    rot, const CQuatT< T > &    q0, const CQuatT< T > &    tgtQ0, const CQuatT< T > &    tgtQ1, const CQuatT< T > &    q1, float    t )  [static]   Quaternion Quadratic spherical linear interpolation, with multi revision support. Definition at line 366 of file quat.h. References NLMISC::Pi, NLMISC::QuatEpsilon, s, t, and v. Member Data Documentation template<class T> T NLMISC::CQuatT::w   Definition at line 77 of file quat.h. Referenced by NLMISC::CQuatT< float >::conjugate, NLMISC::CQuatT< float >::CQuatT, equal, NLMISC::CQuatT< float >::identity, NLMISC::CQuatT< float >::isIdentity, log, operator *, NLMISC::CQuatT< float >::operator *, NLMISC::CQuatT< float >::operator *=, NLMISC::CQuatT< float >::operator+, NLMISC::CQuatT< float >::operator+=, NLMISC::CQuatT< float >::operator-, NLMISC::CQuatT< float >::operator-=, NLMISC::CQuatT< float >::operator/, NLMISC::CQuatT< float >::operator/=, NLMISC::CQuatT< float >::operator==, NLMISC::CQuatT< float >::serial, NLMISC::CQuatT< float >::set, setAngleAxis, and NLMISC::CQuatT< float >::sqrnorm. template<class T> T NLMISC::CQuatT::x   Definition at line 77 of file quat.h. Referenced by NLMISC::CQuatT< float >::conjugate, NLMISC::CQuatT< float >::CQuatT, equal, exp, NLMISC::CQuatT< float >::identity, NLMISC::CQuatT< float >::isIdentity, log, operator *, NLMISC::CQuatT< float >::operator *, NLMISC::CQuatT< float >::operator *=, NLMISC::CQuatT< float >::operator+, NLMISC::CQuatT< float >::operator+=, NLMISC::CQuatT< float >::operator-, NLMISC::CQuatT< float >::operator-=, NLMISC::CQuatT< float >::operator/, NLMISC::CQuatT< float >::operator/=, NLMISC::CQuatT< float >::operator==, NLMISC::CQuatT< float >::serial, NLMISC::CQuatT< float >::set, setAngleAxis, and NLMISC::CQuatT< float >::sqrnorm. template<class T> T NLMISC::CQuatT::y   Definition at line 77 of file quat.h. Referenced by NLMISC::CQuatT< float >::conjugate, NLMISC::CQuatT< float >::CQuatT, equal, exp, NLMISC::CQuatT< float >::identity, NLMISC::CQuatT< float >::isIdentity, log, operator *, NLMISC::CQuatT< float >::operator *, NLMISC::CQuatT< float >::operator *=, NLMISC::CQuatT< float >::operator+, NLMISC::CQuatT< float >::operator+=, NLMISC::CQuatT< float >::operator-, NLMISC::CQuatT< float >::operator-=, NLMISC::CQuatT< float >::operator/, NLMISC::CQuatT< float >::operator/=, NLMISC::CQuatT< float >::operator==, NLMISC::CQuatT< float >::serial, NLMISC::CQuatT< float >::set, setAngleAxis, and NLMISC::CQuatT< float >::sqrnorm. template<class T> T NLMISC::CQuatT::z   Definition at line 77 of file quat.h. Referenced by NLMISC::CQuatT< float >::conjugate, NLMISC::CQuatT< float >::CQuatT, equal, exp, NLMISC::CQuatT< float >::identity, NLMISC::CQuatT< float >::isIdentity, log, operator *, NLMISC::CQuatT< float >::operator *, NLMISC::CQuatT< float >::operator *=, NLMISC::CQuatT< float >::operator+, NLMISC::CQuatT< float >::operator+=, NLMISC::CQuatT< float >::operator-, NLMISC::CQuatT< float >::operator-=, NLMISC::CQuatT< float >::operator/, NLMISC::CQuatT< float >::operator/=, NLMISC::CQuatT< float >::operator==, NLMISC::CQuatT< float >::serial, NLMISC::CQuatT< float >::set, setAngleAxis, and NLMISC::CQuatT< float >::sqrnorm. The documentation for this class was generated from the following file: quat.h