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

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

inline

Constructor.

Parameters

Q	quaternion
dir	direction

Definition at line 1134 of file JQuaternion3D.hh.

    {
      twist = JQuaternion3D(Q.getA(), dir * dir.getDot(Q));           // rotation around given axis
      swing = JQuaternion3D(Q * twist.getConjugate());                //
    }

Member Function Documentation

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

inline

Get quaternion.

Returns

quaternion

Definition at line 1147 of file JQuaternion3D.hh.

    {
      return swing * twist;
    }

Member Data Documentation

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::twist

rotation around parallel axis

Definition at line 1152 of file JQuaternion3D.hh.

JQuaternion3D JGEOMETRY3D::JQuaternion3D::decomposition::swing

rotation around perpendicular axis

Definition at line 1153 of file JQuaternion3D.hh.

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

• JQuaternion3D.hh