Jpp  master_rocky-43-ge265d140c
the software that should make you happy
Public Member Functions | Public Attributes | List of all members
JGEOMETRY3D::JQuaternion3D::decomposition Struct Reference

Auxiliary data structure for decomposition of quaternion in twist and swing quaternions. More...

#include <JQuaternion3D.hh>

Public Member Functions

 decomposition (const JQuaternion3D &Q, const JVector3D &dir)
 Constructor. More...
 
JQuaternion3D getQuaternion () const
 Get quaternion. More...
 

Public Attributes

JQuaternion3D twist
 rotation around parallel axis More...
 
JQuaternion3D swing
 rotation around perpendicular axis More...
 

Detailed Description

Auxiliary data structure for decomposition of quaternion in twist and swing quaternions.

Definition at line 1127 of file JQuaternion3D.hh.

Constructor & Destructor Documentation

◆ decomposition()

JGEOMETRY3D::JQuaternion3D::decomposition::decomposition ( const JQuaternion3D Q,
const JVector3D dir 
)
inline

Constructor.

Parameters
Qquaternion
dirdirection

Definition at line 1134 of file JQuaternion3D.hh.

1136  {
1137  twist = JQuaternion3D(Q.getA(), dir * dir.getDot(Q)); // rotation around given axis
1138  swing = JQuaternion3D(Q * twist.getConjugate()); //
1139  }
JQuaternion3D()
Default constructor.
JQuaternion3D getConjugate() const
Get conjugate of this quaternion.
double getA() const
Get a value.
double getDot(const JVector3D &vector) const
Get dot product.
Definition: JVector3D.hh:282
JQuaternion3D swing
rotation around perpendicular axis
JQuaternion3D twist
rotation around parallel axis

Member Function Documentation

◆ getQuaternion()

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::getQuaternion ( ) const
inline

Get quaternion.

Returns
quaternion

Definition at line 1147 of file JQuaternion3D.hh.

1148  {
1149  return swing * twist;
1150  }

Member Data Documentation

◆ twist

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::twist

rotation around parallel axis

Definition at line 1152 of file JQuaternion3D.hh.

◆ swing

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::swing

rotation around perpendicular axis

Definition at line 1153 of file JQuaternion3D.hh.


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