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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 1125 of file JQuaternion3D.hh.

Constructor & Destructor Documentation

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

Constructor.

Parameters
Qquaternion
dirdirection

Definition at line 1132 of file JQuaternion3D.hh.

1134  {
1135  twist = JQuaternion3D(Q.getA(), dir * dir.getDot(Q)); // rotation around given axis
1136  swing = JQuaternion3D(Q * twist.getConjugate()); //
1137  }
JQuaternion3D getConjugate() const
Get conjugate of this quaternion.
JQuaternion3D swing
rotation around perpendicular axis
JQuaternion3D twist
rotation around parallel axis
JQuaternion3D()
Default constructor.
double getA() const
Get a value.
double getDot(const JVector3D &vector) const
Get dot product.
Definition: JVector3D.hh:282

Member Function Documentation

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

Get quaternion.

Returns
quaternion

Definition at line 1145 of file JQuaternion3D.hh.

1146  {
1147  return swing * twist;
1148  }
JQuaternion3D swing
rotation around perpendicular axis
JQuaternion3D twist
rotation around parallel axis

Member Data Documentation

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::twist

rotation around parallel axis

Definition at line 1150 of file JQuaternion3D.hh.

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::swing

rotation around perpendicular axis

Definition at line 1151 of file JQuaternion3D.hh.


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