#include <Quaternion.h>

Public Member Functions
	Quaternion (double qw=1., double qx=1., double qy=0., double qz=0.)

	Quaternion (const double &alpha_rad, const std::array< double, 3 > &n)
	create a quaternion, representing a rotation around a rotation axis (vector n) by an angel alpha More...

double	qw () const

double	qx () const

double	qy () const

double	qz () const

double	magnitude2 () const

void	scale (double s)

void	scaleinv (double s)

void	normalize ()

void	conjugate ()

void	inverse ()

void	add (const Quaternion &q)

void	multiply_left (const Quaternion &q)

void	*operator=** (const Quaternion &q)

std::array< double, 3 >	rotate (const std::array< double, 3 > &d) const

void	rotateInPlace (std::array< double, 3 > &d) const

std::array< double, 3 >	rotateinv (const std::array< double, 3 > &d) const

void	rotateinvInPlace (std::array< double, 3 > &d) const

void	differentiate (const std::array< double, 3 > &w, Quaternion &dqdt) const

void	getRotMatrix (double R[3][3]) const

void	getRotinvMatrix (double R[3][3]) const

bool	isNormalized () const

void	check () const

Detailed Description

Constructor & Destructor Documentation

create a quaternion, representing a rotation around a rotation axis (vector n) by an angel alpha

Parameters

alpha_rad	the rotation angle in radiant
n	rotation axis represented as a vector (will be normalized)

std::array< double, 3 > Quaternion::rotate ( const std::array< double, 3 > & d ) const

apply the rotation represented by tis quaternion to d

Parameters

d	the vector to be rotated

void Quaternion::rotateInPlace ( std::array< double, 3 > & d ) const

inline

apply the rotation represented by tis quaternion to d. The result vector is stored to d.

Parameters

d	the vector to be rotated

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