Quat Class Reference

Quaternion representing an axis of rotation and a (half of) rotation angle. More...

#include <Quat.h>

Public Member Functions
	Quat ()=default
	Quat (const Vector &axis, const Float angle)
	Creates a quaternion given rotation axis and angle of rotation. More...
	Quat (const AffineMatrix &m)
	Creates a quaternion given a rotation matrix. More...
INLINE Vector	axis () const
	Returns the normalized rotational axis. More...
INLINE Float	angle () const
	Returns the angle of rotation (in radians). More...
INLINE Float &	operator[] (const Size idx)
INLINE Float	operator[] (const Size idx) const
AffineMatrix	convert () const
	Converts the quaternion into a rotation matrix. More...

Detailed Description

Quaternion representing an axis of rotation and a (half of) rotation angle.

Convenient holder of any rotation, as it contains only 4 components and can only represent a rotation, compared to matrix with 9 components, representing any linear transformation.

Definition at line 16 of file Quat.h.

Constructor & Destructor Documentation

Quat() [1/3]

Quat::Quat ( )

default

Quat() [2/3]

Quat::Quat ( const Vector &  axis, const Float  angle  )

inline

Creates a quaternion given rotation axis and angle of rotation.

Axis does not have to be normalized.

Definition at line 26 of file Quat.h.

Quat() [3/3]

Quat::Quat ( const AffineMatrix &  m )

inlineexplicit

Creates a quaternion given a rotation matrix.

The matrix must be orthogonal with det(matrix) = 1

Definition at line 42 of file Quat.h.

Member Function Documentation

angle()

INLINE Float Quat::angle ( ) const

inline

Returns the angle of rotation (in radians).

Definition at line 60 of file Quat.h.

axis()

INLINE Vector Quat::axis ( ) const

inline

Returns the normalized rotational axis.

Definition at line 54 of file Quat.h.

convert()

AffineMatrix Quat::convert ( ) const

inline

Converts the quaternion into a rotation matrix.

Definition at line 73 of file Quat.h.

operator[]() [1/2]

INLINE Float& Quat::operator[] ( const Size  idx )

inline

Definition at line 64 of file Quat.h.

operator[]() [2/2]

INLINE Float Quat::operator[] ( const Size  idx ) const

inline

Definition at line 68 of file Quat.h.

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

• /home/pavel/projects/astro/sph/src/core/math/Quat.h