Quaternion Struct Reference

data structure reprenseting a Quaternion. More...

#include <quaternion.h>

Public Member Functions
	Quaternion (GLfloat angle, Vector3Gf axis)
	Quaternion (Vector3Gf axis)
GLfloat	squaredNorm () const
GLfloat	norm () const
void	normalize ()
Quaternion	conjugate () const
Quaternion	inv () const
Eigen::Matrix< GLfloat, 3, 3 >	toRotationMatrix ()
Quaternion	operator+ (const Quaternion &q) const
Quaternion	operator- (const Quaternion &q) const
Quaternion	operator* (const Quaternion &q) const
Quaternion	operator/ (const GLfloat &s) const
Quaternion	operator/ (const Quaternion &q) const

Public Attributes
GLfloat	r
Vector3Gf	im

Friends
Quaternion	operator* (const Quaternion q, const GLfloat &s)
Quaternion	operator* (const GLfloat &s, const Quaternion q)
std::ostream &	operator<< (std::ostream &os, const Quaternion &q)

Detailed Description

data structure reprenseting a Quaternion.

Constructor & Destructor Documentation

Quaternion::Quaternion	(	GLfloat	angle,
		Vector3Gf	axis
	)

Builds a quaternion in polar form. Used for rotations

Quaternion::Quaternion

(

Vector3Gf

axis

)

Builds a purely imaginary quaternion.

Member Function Documentation

Quaternion Quaternion::conjugate

(

)

const

Returns

the conjugate of this quaternion

Quaternion Quaternion::inv

(

)

const

Returns

the inverse of this quaternion

GLfloat Quaternion::norm

(

)

const

Returns

the norm of the quaternion

void Quaternion::normalize

(

)

divides this quaternion by its norm

GLfloat Quaternion::squaredNorm

(

)

const

Returns

the squared norm of the quaternion

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

• include/quaternion.h
• quaternion.cpp