Double-precision quaternion. More...

#include <FXQuatd.h>

Public Member Functions
	FXQuatd ()
	Default constructor; value is not initialized.

	FXQuatd (const FXQuatd &q)
	Copy constructor.

	FXQuatd (const FXdouble v[])
	Construct from array of four doubles.

	FXQuatd (FXdouble xx, FXdouble yy, FXdouble zz, FXdouble ww)
	Construct from four components.

	FXQuatd (const FXVec3d &axis, FXdouble phi)
	Construct from rotation axis and angle in radians.

	FXQuatd (const FXVec3d &fr, const FXVec3d &to)
	Construct quaternion from arc between two unit vectors fm and to.

	FXQuatd (FXdouble roll, FXdouble pitch, FXdouble yaw)
	Construct from euler angles yaw (z), pitch (y), and roll (x).

	FXQuatd (const FXVec3d &ex, const FXVec3d &ey, const FXVec3d &ez)
	Construct quaternion from three orthogonal unit vectors.

	FXQuatd (const FXVec3d &rot)
	Construct quaternion from rotation vector rot, representing a rotation by \|rot\| radians about a unit vector rot/\|rot\|.

FXdouble &	operator[] (FXint i)
	Return a non-const reference to the ith element.

const FXdouble &	operator[] (FXint i) const
	Return a const reference to the ith element.

FXQuatd &	operator= (const FXQuatd &v)
	Assignment from other quaternion.

FXQuatd &	operator= (const FXdouble v[])
	Assignment from array of four doubles.

FXQuatd &	set (const FXQuatd &v)
	Set value from another quaternion.

FXQuatd &	set (const FXdouble v[])
	Set value from array of four doubles.

FXQuatd &	set (FXdouble xx, FXdouble yy, FXdouble zz, FXdouble ww)
	Set value from four components.

FXQuatd &	operator*= (FXdouble n)
	Assigning operators.

FXQuatd &	operator/= (FXdouble n)

FXQuatd &	operator+= (const FXQuatd &v)

FXQuatd &	operator-= (const FXQuatd &v)

FXQuatd &	*operator=** (const FXQuatd &b)

FXQuatd &	operator/= (const FXQuatd &b)

	operator FXdouble * ()
	Conversion.

	operator const FXdouble * () const

	operator FXVec3d & ()
	Conversion to 3-vector, axis of rotation.

	operator const FXVec3d & () const

FXbool	operator! () const
	Test if zero.

FXQuatd	operator+ () const
	Unary.

FXQuatd	operator- () const

FXdouble	length2 () const
	Length and square of length.

FXdouble	length () const

FXQuatd &	adjust ()
	Adjust quaternion length.

void	setAxisAngle (const FXVec3d &axis, FXdouble phi)
	Set quaternion from axis and angle. More...

void	getAxisAngle (FXVec3d &axis, FXdouble &phi) const
	Obtain axis and angle from quaternion. More...

void	setRotation (const FXVec3d &rot)
	Set quaternion from rotation vector rot, representing a rotation by \|rot\| radians about a unit vector rot/\|rot\|. More...

FXVec3d	getRotation () const
	Get rotation vector from quaternion, representing a rotation of \|rot\| radians about an axis rot/\|rot\|. More...

void	setMRP (const FXVec3d &m)
	Set unit quaternion to modified rodrigues parameters. More...

FXVec3d	getMRP () const
	Return modified rodrigues parameters from unit quaternion.

void	setRollPitchYaw (FXdouble roll, FXdouble pitch, FXdouble yaw)
	Set quaternion from roll (x), pitch (y), yaw (z), in that order.

void	getRollPitchYaw (FXdouble &roll, FXdouble &pitch, FXdouble &yaw) const
	Return the roll (x), pitch (y), yaw (z) angles represented by the quaternion.

void	setYawPitchRoll (FXdouble yaw, FXdouble pitch, FXdouble roll)
	Set quaternion from yaw (z), pitch (y), roll (x), in that order.

void	getYawPitchRoll (FXdouble &yaw, FXdouble &pitch, FXdouble &roll) const
	Return the yaw (z), pitch (y), roll (x) angles represented by the quaternion.

void	setRollYawPitch (FXdouble roll, FXdouble yaw, FXdouble pitch)
	Set quaternion from roll (x), yaw (z), pitch (y), in that order.

void	getRollYawPitch (FXdouble &roll, FXdouble &yaw, FXdouble &pitch) const
	Return the roll (x), yaw (z), pitch (y) angles represented by the quaternion.

void	setPitchRollYaw (FXdouble pitch, FXdouble roll, FXdouble yaw)
	Set quaternion from pitch (y), roll (x),yaw (z), in that order.

void	getPitchRollYaw (FXdouble &pitch, FXdouble &roll, FXdouble &yaw) const
	Return the pitch (y), roll (x),yaw (z) angles represented by the quaternion.

void	setPitchYawRoll (FXdouble pitch, FXdouble yaw, FXdouble roll)
	Set quaternion from pitch (y), yaw (z), roll (x), in that order.

void	getPitchYawRoll (FXdouble &pitch, FXdouble &yaw, FXdouble &roll) const
	Return the pitch (y), yaw (z), roll (x) angles represented by the quaternion.

void	setYawRollPitch (FXdouble yaw, FXdouble roll, FXdouble pitch)
	Set quaternion from yaw (z), roll (x), pitch (y), in that order.

void	getYawRollPitch (FXdouble &yaw, FXdouble &roll, FXdouble &pitch) const
	Return the yaw (z), roll (x), pitch (y) angles represented by the quaternion.

void	setAxes (const FXVec3d &ex, const FXVec3d &ey, const FXVec3d &ez)
	Set quaternion from axes.

void	getAxes (FXVec3d &ex, FXVec3d &ey, FXVec3d &ez) const
	Get quaternion axes.

FXVec3d	getXAxis () const
	Obtain local x axis.

FXVec3d	getYAxis () const
	Obtain local y axis.

FXVec3d	getZAxis () const
	Obtain local z axis.

FXQuatd	exp () const
	Exponentiate quaternion.

FXQuatd	log () const
	Take logarithm of quaternion.

FXQuatd	pow (FXdouble t) const
	Power of quaternion.

FXQuatd	conj () const
	Conjugate quaternion.

FXQuatd	unitinvert () const
	Invert unit quaternion.

FXQuatd	invert () const
	Invert quaternion.

	~FXQuatd ()
	Destructor.

Public Attributes
double	x

double	y

double	z

double	w

Detailed Description

Double-precision quaternion.

Member Function Documentation

◆ getAxisAngle()

void FX::FXQuatd::getAxisAngle	(	FXVec3d &	axis,
		FXdouble &	phi
	)		const

Obtain axis and angle from quaternion.

Return unit vector and angle of rotation phi, in radians. If identity quaternion (0,0,0,1), return axis as (1,0.0).

◆ getRotation()

FXVec3d FX::FXQuatd::getRotation ( ) const

Get rotation vector from quaternion, representing a rotation of |rot| radians about an axis rot/|rot|.

If quaternion is identity quaternion (0,0,0,1), return (0,0,0).

◆ setAxisAngle()

void FX::FXQuatd::setAxisAngle	(	const FXVec3d &	axis,
		FXdouble	phi
	)

Set quaternion from axis and angle.

Quaternion represents a rotation of phi radians about unit vector axis.

◆ setMRP()

void FX::FXQuatd::setMRP ( const FXVec3d & m )

Set unit quaternion to modified rodrigues parameters.

Modified Rodriques parameters are defined as MRP = tan(theta/4)*E, where theta is rotation angle (radians), and E is unit axis of rotation.

◆ setRotation()

void FX::FXQuatd::setRotation ( const FXVec3d & rot )

Set quaternion from rotation vector rot, representing a rotation by |rot| radians about a unit vector rot/|rot|.

Set to the identity quaternion (0,0,0,1) if the rotation vector is equal to (0,0,0).

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

/home/jeroen/FOX/fox/fox-1.7.86/include/FXQuatd.h

Public Member Functions