Jpp
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Data structure for quaternion in three dimensions. More...
#include <JQuaternion3D.hh>
Public Member Functions | |
JQuaternion3D () | |
Default constructor. More... | |
JQuaternion3D (const double a, const double b, const double c, const double d) | |
Constructor. More... | |
JQuaternion3D (const JVector3D &pos) | |
Constructor. More... | |
JQuaternion3D (const JVersor3D &dir) | |
Constructor. More... | |
JQuaternion3D (const double theta, const JVersor3D &dir) | |
Constructor. More... | |
JQuaternion3D (const JQuaternion3X &qx, const JQuaternion3Y &qy, const JQuaternion3Z &qz) | |
Constructor. More... | |
operator JVector3D () const | |
Type conversion operator. More... | |
operator JVersor3D () const | |
Type conversion operator. More... | |
double | getA () const |
Get a value. More... | |
double | getB () const |
Get b value. More... | |
double | getC () const |
Get c value. More... | |
double | getD () const |
Get d value. More... | |
JQuaternion3D & | setIdentity () |
Set to identity matrix. More... | |
JQuaternion3D & | conjugate () |
Conjugate quaternion. More... | |
JQuaternion3D & | negate () |
Negate quaternion. More... | |
JQuaternion3D & | add (const JQuaternion3D &quaternion) |
Add quaternion. More... | |
JQuaternion3D & | sub (const JQuaternion3D &quaternion) |
Subtract quaternion. More... | |
JQuaternion3D & | mul (const double factor) |
Scale quaternion. More... | |
JQuaternion3D & | div (const double factor) |
Scale quaternion. More... | |
JQuaternion3D & | mul (const JQuaternion3D &first, const JQuaternion3X &second) |
Quaternion multiplicaion. More... | |
JQuaternion3D & | mul (const JQuaternion3D &first, const JQuaternion3Y &second) |
Quaternion multiplicaion. More... | |
JQuaternion3D & | mul (const JQuaternion3D &first, const JQuaternion3Z &second) |
Quaternion multiplicaion. More... | |
JQuaternion3D & | mul (const JQuaternion3D &first, const JQuaternion3D &second) |
Quaternion multiplicaion. More... | |
JQuaternion3D & | mul (const JQuaternion3X &qx, const JQuaternion3Y &qy, const JQuaternion3Z &qz) |
Quaternion multiplicaion. More... | |
bool | equals (const JQuaternion3D &quaternion) const |
Check equality. More... | |
double | getLengthSquared () const |
Get length squared. More... | |
double | getLength () const |
Get length. More... | |
double | getDistanceSquared (const JQuaternion3D &quaternion) const |
Get squared of distance to quaternion. More... | |
double | getDistance (const JQuaternion3D &quaternion) const |
Get distance to quaternion. More... | |
double | getDot (const JQuaternion3D &quaternion) const |
Get dot product. More... | |
JFirst_t & | mul (const JSecond_t &object) |
Multiply with object. More... | |
Protected Attributes | |
double | __a |
double | __b |
double | __c |
double | __d |
Friends | |
std::istream & | operator>> (std::istream &in, JQuaternion3D &quaternion) |
Write quaternion from input. More... | |
std::ostream & | operator<< (std::ostream &out, const JQuaternion3D &quaternion) |
Write quaternion to output. More... | |
JReader & | operator>> (JReader &in, JQuaternion3D &quaternion) |
Read quaternion from input. More... | |
JWriter & | operator<< (JWriter &out, const JQuaternion3D &quaternion) |
Write quaternion to output. More... | |
Data structure for quaternion in three dimensions.
This class implements the JMATH::JMath and JLANG::JEquals interfaces.
Definition at line 239 of file JQuaternion3D.hh.
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Constructor.
a | a value |
b | b value |
c | c value |
d | d value |
Definition at line 273 of file JQuaternion3D.hh.
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Constructor.
This constructor represents a rotation around the given axis by the given angle.
theta | rotation angle [rad] |
dir | rotation axis |
Definition at line 317 of file JQuaternion3D.hh.
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Constructor.
qx | rotation around x-axis |
qy | rotation around y-axis |
qz | rotation around x-axis |
Definition at line 337 of file JQuaternion3D.hh.
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Type conversion operator.
Definition at line 365 of file JQuaternion3D.hh.
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Add quaternion.
quaternion | quaternion |
Definition at line 468 of file JQuaternion3D.hh.
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Subtract quaternion.
quaternion | quaternion |
Definition at line 485 of file JQuaternion3D.hh.
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Scale quaternion.
factor | multiplication factor |
Definition at line 502 of file JQuaternion3D.hh.
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Scale quaternion.
factor | division factor |
Definition at line 519 of file JQuaternion3D.hh.
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Quaternion multiplicaion.
This method evaluates the Hamilton product (also called cross product).
first | first quaternion |
second | second quaternion |
Definition at line 539 of file JQuaternion3D.hh.
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Quaternion multiplicaion.
This method evaluates the Hamilton product (or cross product).
first | first quaternion |
second | second quaternion |
Definition at line 559 of file JQuaternion3D.hh.
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Quaternion multiplicaion.
This method evaluates the Hamilton product (or cross product).
first | first quaternion |
second | second quaternion |
Definition at line 580 of file JQuaternion3D.hh.
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Quaternion multiplicaion.
This method evaluates the Hamilton product (or cross product).
first | first quaternion |
second | second quaternion |
Definition at line 601 of file JQuaternion3D.hh.
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Quaternion multiplicaion.
qx | rotation around x-axis |
qy | rotation around y-axis |
qz | rotation around x-axis |
Definition at line 621 of file JQuaternion3D.hh.
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Check equality.
quaternion | quaternion |
Definition at line 635 of file JQuaternion3D.hh.
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Get length.
Definition at line 660 of file JQuaternion3D.hh.
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Get squared of distance to quaternion.
quaternion | quaternion |
Definition at line 672 of file JQuaternion3D.hh.
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Get distance to quaternion.
quaternion | quaternion |
Definition at line 684 of file JQuaternion3D.hh.
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Get dot product.
quaternion | quaternion |
Definition at line 696 of file JQuaternion3D.hh.
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Multiply with object.
object | object |
Definition at line 273 of file JMath.hh.
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Write quaternion from input.
in | input stream |
quaternion | quaternion |
Definition at line 713 of file JQuaternion3D.hh.
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Write quaternion to output.
out | output stream |
quaternion | quaternion |
Definition at line 731 of file JQuaternion3D.hh.
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Read quaternion from input.
in | reader |
quaternion | quaternion |
Definition at line 749 of file JQuaternion3D.hh.
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Write quaternion to output.
out | writer |
quaternion | quaternion |
Definition at line 767 of file JQuaternion3D.hh.
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Definition at line 778 of file JQuaternion3D.hh.
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Definition at line 779 of file JQuaternion3D.hh.
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Definition at line 780 of file JQuaternion3D.hh.
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Definition at line 781 of file JQuaternion3D.hh.