#include <Quaternion.hpp>

Inheritance diagram for mgx::Quaternion:

Public Member Functions
	Quaternion ()
	Default constructor. More...

	Quaternion (const Point4d &other)
	Creates a quaternion from a Point4d. More...

	Quaternion (double x, double y, double z, double w)
	Creates a quaternion specified by its components. More...

	Quaternion (const Quaternion &other)
	Copy constructor. More...

	Quaternion (const Point3d &axis, double angle)
	Creates a Quaternion corresponding to an axis rotation. More...

	Quaternion (const Point3d &from, const Point3d &to)
	Creates the quaternion corresponding to the rotation transforming `from` into `to`. More...

	Quaternion (const Matrix3d &m)
	Creates the quaternion corresponding to the rotation matrix `m`. More...

Quaternion &	operator= (const Quaternion &other)
	Assignment operator for quaternions. More...

void	setAxisAngle (const Point3d &axis, double angle)
	Set the quaternion to the described rotation. More...

double &	w ()
	Accessing the real part of the quaternion. More...

const double &	w () const
	Accessing the real part of the quaternion. More...

Quaternion &	operator+= (const Quaternion &other)
	Quaternion in-place addition. More...

Quaternion	operator+ (const Quaternion &other) const
	Quaternion addition. More...

Quaternion	operator* (const Quaternion &other) const
	Quaternion multiplication. More...

Quaternion &	operator*= (const Quaternion &other)
	Quaternion in-place multiplication. More...

Quaternion &	operator*= (double s)
	In-place multiplication of a quaternion by a scalar. More...

Quaternion	inverse () const
	Return the quaternion corresponding to the inverse transform. More...

Quaternion	conjugate () const
	Return the conjugate of the current quaternion. More...

Quaternion &	operator/= (double v)
	Division of a quaternion by a real number. More...

Quaternion	operator/ (double v) const
	Division of a quaternion by a real number. More...

void	setMatrix (Matrix3d &m) const
	Fill the matrix as argument from the quaternion. More...

void	setMatrix (Matrix4d &m) const
	Fill the matrix as argument from the quaternion. More...

Point3d	axis () const
	Returns the axis of the rotation corresponding to this quaternion. More...

double	angle () const
	Returns the angle of the rotation corresponding to this quaternion. More...

Point3d	rotate (const Point3d &v) const
	Apply the rotation contained in this quaternion on the vector. More...

Point3d	inverseRotate (const Point3d &v) const
	Apply the inverse of the rotation contained in this quaternion on the vector. More...

Public Member Functions inherited from mgx::Vector< dim, T >
template<size_t d1, class T1 >
CU_HOST_DEVICE	Vector (const Vector< d1, T1 > &vec)
	Copy another vector with different number of elements. More...

template<class Vec >
CU_HOST_DEVICE	Vector (const Vec &el)
	Initialize a vector from any object behaving like an array. More...

CU_HOST_DEVICE	Vector (const T &x=T())
	Initialize a vector with all values to `x`. More...

CU_HOST_DEVICE	Vector (const T &x, const T &y)
	Initialize a 2D vector. More...

CU_HOST_DEVICE	Vector (const T &x, const T &y, const T &z)
	Initialize a 3D vector. More...

CU_HOST_DEVICE	Vector (const T &x, const T &y, const T &z, const T &t)
	Initialize a 4D vector. More...

CU_HOST_DEVICE	Vector (const T &x, const T &y, const T &z, const T &a, const T &b)
	Initialize a 5D vector. More...

CU_HOST_DEVICE	Vector (const T &x, const T &y, const T &z, const T &a, const T &b, const T &c)
	Initialize a 6D vector. More...

CU_HOST_DEVICE	Vector (const T &x, const T &y, const T &z, const T &a, const T &b, const T &c, const T &d)
	Initialize a 7D vector. More...

CU_HOST_DEVICE	Vector (const T &a, const T &b, const T &c, const T &d, const T &e, const T &f, const T &g, const T &h)
	Initialize a 8D vector. More...

CU_HOST_DEVICE	Vector (const T &a, const T &b, const T &c, const T &d, const T &e, const T &f, const T &g, const T &h, const T &i)
	Initialize a 9D vector. More...

CU_HOST_DEVICE	Vector (const T &a, const T &b, const T &c, const T &d, const T &e, const T &f, const T &g, const T &h, const T &i, const T &j, const T &k, const T &l)
	Initialize a 12D vector. More...

CU_HOST_DEVICE	Vector (const T &a, const T &b, const T &c, const T &d, const T &e, const T &f, const T &g, const T &h, const T &i, const T &j, const T &k, const T &l, const T &m, const T &n, const T &o, const T &p, const T &q, const T &r)
	Initialize a 18D vector. More...

CU_HOST_DEVICE T *	data ()
	Returns a raw pointer on the data. More...

CU_HOST_DEVICE iterator	begin ()
	STL-iteration begin. More...

CU_HOST_DEVICE const_iterator	begin () const
	Stl-iteration constant begin. More...

CU_HOST_DEVICE iterator	end ()
	STL-iteration end. More...

CU_HOST_DEVICE const_iterator	end () const
	Stl-iteration constant end. More...

const CU_HOST_DEVICE T *	c_data () const
	Returns a constant raw pointer on the data. More...

CU_HOST_DEVICE Vector	operator- (void) const
	Vector negation. More...

CU_HOST_DEVICE Vector	operator+ (const Vector &vec) const
	Vector addition. More...

CU_HOST_DEVICE Vector	operator- (const Vector &vec) const
	Vector subtraction. More...

CU_HOST_DEVICE Vector	mult (const Vector &vec) const
	Element-wise multiplcation. More...

CU_HOST_DEVICE Vector	operator* (const T &scalar) const
	Multiplication by a scalar. More...

CU_HOST_DEVICE Vector	operator/ (const T &scalar) const
	Division by a scalar. More...

CU_HOST_DEVICE Vector	operator/ (const Vector &vec) const
	Element-wise division. More...

CU_HOST_DEVICE Vector &	operator/= (const Vector &vec)
	In-place element-wise division by a scalar. More...

CU_HOST_DEVICE T	operator* (const Vector &vec) const
	Dot product. More...

CU_HOST_DEVICE Vector &	operator+= (const Vector &vec)
	Vector copy. More...

CU_HOST_DEVICE Vector &	operator+= (const T &val)
	In-place constant addition. More...

CU_HOST_DEVICE Vector &	operator-= (const Vector &vec)
	In-place vector subtraction. More...

CU_HOST_DEVICE Vector &	operator-= (const T &val)
	In-place value subtraction. More...

CU_HOST_DEVICE Vector &	operator*= (const T &scalar)
	In-place multiplication by a scalar. More...

template<typename T1 >
CU_HOST_DEVICE Vector &	operator*= (const T1 &scalar)
	In-place multiplication by a scalar. More...

CU_HOST_DEVICE Vector &	operator/= (const T &scalar)
	In-place division by a scalar. More...

template<typename T1 >
CU_HOST_DEVICE Vector &	operator/= (const T1 &scalar)
	In-place division by a scalar. More...

CU_HOST_DEVICE bool	operator== (const Vector &vec) const
	Element-wise equality. More...

CU_HOST_DEVICE bool	operator!= (const Vector &vec) const
	Element-wise inequality. More...

CU_HOST_DEVICE T &	operator[] (size_t idx)
	Access to the element `idx`. More...

const CU_HOST_DEVICE T &	operator[] (size_t idx) const
	Access to the element `idx`. More...

CU_HOST_DEVICE T	norm () const
	Euclidean norm of the vector. More...

CU_HOST_DEVICE T	normsq () const
	Square of the Euclidean norm of the vector. More...

CU_HOST_DEVICE Vector &	normalize (void)
	Normalize the vector. More...

CU_HOST_DEVICE Vector	normalized (void) const
	Returns a normalized version of the vector. More...

bool	iszero (void)

Vector &	zero (void)

CU_HOST_DEVICE void	set (const T &x)
	Set the values of a 1-D vector. More...

CU_HOST_DEVICE void	set (const T &x, const T &y)
	Set the values of a 2-D vector. More...

CU_HOST_DEVICE void	set (const T &x, const T &y, const T &z)
	Set the values of a 3-D vector. More...

CU_HOST_DEVICE void	set (const T &x, const T &y, const T &z, const T &t)
	Set the values of a 4-D vector. More...

CU_HOST_DEVICE Vector &	operator= (const T &value)
	Set all the elements to `value`. More...

CU_HOST_DEVICE Vector	cross (const Vector &other) const
	Compute the cross product as `this` x `other`. More...

CU_HOST_DEVICE void	x (const T &v)
	Short access to the first element. More...

CU_HOST_DEVICE void	y (const T &v)
	Short access to the second element. More...

CU_HOST_DEVICE void	z (const T &v)
	Short access to the third element. More...

CU_HOST_DEVICE void	t (const T &v)
	Short access to the fourth element. More...

CU_HOST_DEVICE T &	x ()
	Short access to the first element. More...

CU_HOST_DEVICE T &	y ()
	Short access to the second element. More...

CU_HOST_DEVICE T &	z ()
	Short access to the third element. More...

CU_HOST_DEVICE T &	t ()
	Short access to the fourth element. More...

const CU_HOST_DEVICE T &	x () const
	Short access to the first element. More...

const CU_HOST_DEVICE T &	y () const
	Short access to the second element. More...

const CU_HOST_DEVICE T &	z () const
	Short access to the third element. More...

const CU_HOST_DEVICE T &	t () const
	Short access to the fourth element. More...

CU_HOST_DEVICE void	i (const T &v)
	Short access to the first element. More...

CU_HOST_DEVICE void	j (const T &v)
	Short access to the second element. More...

CU_HOST_DEVICE void	k (const T &v)
	Short access to the third element. More...

CU_HOST_DEVICE void	l (const T &v)
	Short access to the fourth element. More...

CU_HOST_DEVICE T &	i ()
	Short access to the first element. More...

CU_HOST_DEVICE T &	j ()
	Short access to the second element. More...

CU_HOST_DEVICE T &	k ()
	Short access to the third element. More...

CU_HOST_DEVICE T &	l ()
	Short access to the fourth element. More...

const CU_HOST_DEVICE T &	i () const
	Short access to the first element. More...

const CU_HOST_DEVICE T &	j () const
	Short access to the second element. More...

const CU_HOST_DEVICE T &	k () const
	Short access to the third element. More...

const CU_HOST_DEVICE T &	l () const
	Short access to the fourth element. More...

CU_HOST_DEVICE Vector< 2, T >	projectXY (void)
	Extract the two first elements of the vector. More...

CU_HOST_DEVICE bool	operator< (const Vector &other) const
	Comparison operator. More...

CU_HOST_DEVICE bool	operator<= (const Vector &other) const
	Comparison operator. More...

CU_HOST_DEVICE bool	operator> (const Vector &other) const
	Comparison operator. More...

CU_HOST_DEVICE bool	operator>= (const Vector &other) const
	Comparison operator. More...

Additional Inherited Members
Public Types inherited from mgx::Vector< dim, T >
typedef T	value_type

typedef T &	reference_type

typedef T *	pointer_type

typedef T *	iterator

Static Public Member Functions inherited from mgx::Vector< dim, T >
static CU_HOST_DEVICE size_t	size ()
	Returns the size of the vector (i.e. More...

Public Attributes inherited from mgx::Vector< dim, T >
const typedef T &	const_reference_type

const typedef T *	const_pointer_type

const typedef T *	const_iterator

Static Public Attributes inherited from mgx::Vector< dim, T >
static const size_t	numElems

Protected Attributes inherited from mgx::Vector< dim, T >
T	elems [dim]

Related Functions inherited from mgx::Vector< dim, T >
template<class T >
CU_HOST_DEVICE T	operator% (const Vector< 2, T > &v1, const Vector< 2, T > &v2)
	Cross product `v1` x `v2`. More...

template<class T >
CU_HOST_DEVICE T	operator^ (const Vector< 2, T > &v1, const Vector< 2, T > &v2)
	Cross product `v1` x `v2` (French notation) More...

template<class T >
CU_HOST_DEVICE T	operator^ (const Vector< 1, T > &, const Vector< 1, T > &)
	Cross product `v1` x `v2` (French notation) More...

template<class T >
CU_HOST_DEVICE Vector< 3, T >	operator% (const Vector< 3, T > &v1, const Vector< 3, T > &v2)
	Cross product `v1` x `v2`. More...

template<class T >
CU_HOST_DEVICE Vector< 3, T >	operator^ (const Vector< 3, T > &v1, const Vector< 3, T > &v2)
	Cross product `v1` x `v2` (French notation) More...

template<class T >
CU_HOST_DEVICE float	angle (const Vector< 2, T > &v)
	Angle of the vector with (0,1) More...

template<class T >
CU_HOST_DEVICE float	angle (const Vector< 3, T > &v1, const Vector< 3, T > &v2)
	Non-oriented angle between `v1` and `v2`. More...

template<class T >
CU_HOST_DEVICE float	angle (const Vector< 2, T > &v1, const Vector< 2, T > &v2)
	Oriented angle between `v1` and `v2`. More...

template<class T >
CU_HOST_DEVICE float	angle (const Vector< 1, T > &v1, const Vector< 1, T > &v2)
	Oriented angle between `v1` and `v2`. More...

template<class T >
CU_HOST_DEVICE float	angle (const Vector< 3, T > &v1, const Vector< 3, T > &v2, const Vector< 3, T > &ref)
	Oriented angle between `v1` and `v2` with `ref` to orient the space. More...

CU_HOST_DEVICE float	normalized (float)
	Normalized real. More...

CU_HOST_DEVICE float	normsq (float s)
	Euclidean square norm of a real. More...

CU_HOST_DEVICE float	norm (float s)
	Euclidean norm of a real. More...

template<size_t dim, typename T >
CU_HOST_DEVICE T	norm (const Vector< dim, T > &v)
	Function-version of the norm. More...

template<size_t dim, typename T >
CU_HOST_DEVICE T	normsq (const Vector< dim, T > &v)
	Function-version of the square norm. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	normalized (const Vector< dim, T > &v)
	Function-version of the square norm. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	fabs (const Vector< dim, T > &v)
	Return the vector whose component is the absolute value of the input vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	max (const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Return the vector whose component is the max of the two input vectors components. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	min (const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Return the vector whose component is the min of the two input vectors components. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	trim (const Vector< dim, T > &v, const Vector< dim, T > &minv, const Vector< dim, T > &maxv)
	Return the vector with components clipped to min and max vectors. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	multiply (const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Return the vector whose component is the product of the two input vectors components. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	divide (const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Return the vector whose component is the ratio of the two input vectors components. More...

template<typename T >
CU_HOST_DEVICE Vector< 3, T >	orthogonal (const Vector< 3, T > &v)
	Find a vector orthogonal to v. More...

template<size_t dim, typename T , typename T1 >
CU_HOST_DEVICE Vector< dim, T >	map (T(*fct)(T1), const Vector< dim, T1 > &v)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	map (const T &(*fct)(const T &, const T &), const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	map (T(*fct)(const T &, const T &), const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	map (T(*fct)(T, T), const Vector< dim, T > &v1, const Vector< dim, T > &v2)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T , typename T1 , typename T2 >
CU_HOST_DEVICE Vector< dim, T >	map (const T &(*fct)(const T1 &, const T2 &), const Vector< dim, T1 > &v1, const Vector< dim, T2 > &v2)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T , typename T1 , typename T2 >
CU_HOST_DEVICE Vector< dim, T >	map (T(*fct)(const T1 &, const T2 &), const Vector< dim, T1 > &v1, const Vector< dim, T2 > &v2)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T , typename T1 , typename T2 >
CU_HOST_DEVICE Vector< dim, T >	map (T(*fct)(T1, T2), const Vector< dim, T1 > &v1, const Vector< dim, T2 > &v2)
	Map a function to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	operator+ (const Vector< dim, T > &v, const T &value)
	Add a value to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	operator+ (const T &value, const Vector< dim, T > &v)
	Add a value to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	operator- (const Vector< dim, T > &v, const T &value)
	Substact a value to all elements of a vector. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim, T >	operator- (const T &value, const Vector< dim, T > &v)
	Equivalent to substracting a vector with all component the same to another one. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim+1, T >	homogeneous (const Vector< dim, T > &v)
	Create a homogeneous coordinate vector from a cartesian one. More...

template<size_t dim, typename T >
CU_HOST_DEVICE Vector< dim - 1, T >	cartesian (const Vector< dim, T > &v)
	Extract the cartesion coordinates from a homogeneous vector. More...

Detailed Description

Implements the quaternion operations

Definition at line 29 of file Quaternion.hpp.

Constructor & Destructor Documentation

◆ Quaternion() [1/7]

mgx::Quaternion::Quaternion ( )

inline

Default constructor.

Provides an identity quaternion FIXME Shouldn't this be 0?

Definition at line 35 of file Quaternion.hpp.

◆ Quaternion() [2/7]

mgx::Quaternion::Quaternion ( const Point4d & other )

inline

Creates a quaternion from a Point4d.

Definition at line 40 of file Quaternion.hpp.

◆ Quaternion() [3/7]

mgx::Quaternion::Quaternion	(	double	x,
		double	y,
		double	z,
		double	w
	)

inline

Creates a quaternion specified by its components.

Definition at line 45 of file Quaternion.hpp.

◆ Quaternion() [4/7]

mgx::Quaternion::Quaternion ( const Quaternion & other )

inline

Copy constructor.

Definition at line 50 of file Quaternion.hpp.

◆ Quaternion() [5/7]

mgx::Quaternion::Quaternion	(	const Point3d &	axis,
		double	angle
	)

Creates a Quaternion corresponding to an axis rotation.

Parameters

axis	Axis of the rotation. It needs not be normalized before hand. If it is null, then the Quaternion will correspond to the identity matrix.
angle	Angle of the rotation.

◆ Quaternion() [6/7]

mgx::Quaternion::Quaternion	(	const Point3d &	from,
		const Point3d &	to
	)

Creates the quaternion corresponding to the rotation transforming from into to.

◆ Quaternion() [7/7]

mgx::Quaternion::Quaternion ( const Matrix3d & m )

Creates the quaternion corresponding to the rotation matrix m.

Member Function Documentation

◆ angle()

double mgx::Quaternion::angle ( ) const

Returns the angle of the rotation corresponding to this quaternion.

◆ axis()

Point3d mgx::Quaternion::axis ( ) const

Returns the axis of the rotation corresponding to this quaternion.

◆ conjugate()

Quaternion mgx::Quaternion::conjugate ( ) const

inline

Return the conjugate of the current quaternion.

Definition at line 145 of file Quaternion.hpp.

◆ inverse()

Quaternion mgx::Quaternion::inverse ( ) const

inline

Return the quaternion corresponding to the inverse transform.

Definition at line 136 of file Quaternion.hpp.

◆ inverseRotate()

Point3d mgx::Quaternion::inverseRotate ( const Point3d & v ) const

Apply the inverse of the rotation contained in this quaternion on the vector.

It is identical to calling this->inverse().rotate()

◆ operator*()

Quaternion mgx::Quaternion::operator* ( const Quaternion & other ) const

Quaternion multiplication.

◆ operator*=() [1/2]

Quaternion& mgx::Quaternion::operator*= ( const Quaternion & other )

Quaternion in-place multiplication.

◆ operator*=() [2/2]

Quaternion& mgx::Quaternion::operator*= ( double s )

inline

In-place multiplication of a quaternion by a scalar.

Definition at line 126 of file Quaternion.hpp.

◆ operator+()

Quaternion mgx::Quaternion::operator+ ( const Quaternion & other ) const

inline

Quaternion addition.

Definition at line 107 of file Quaternion.hpp.

◆ operator+=()

Quaternion& mgx::Quaternion::operator+= ( const Quaternion & other )

inline

Quaternion in-place addition.

Definition at line 97 of file Quaternion.hpp.

◆ operator/()

Quaternion mgx::Quaternion::operator/ ( double v ) const

inline

Division of a quaternion by a real number.

Definition at line 162 of file Quaternion.hpp.

◆ operator/=()

Quaternion& mgx::Quaternion::operator/= ( double v )

inline

Division of a quaternion by a real number.

Definition at line 152 of file Quaternion.hpp.

◆ operator=()

Quaternion& mgx::Quaternion::operator= ( const Quaternion & other )

Assignment operator for quaternions.

◆ rotate()

Point3d mgx::Quaternion::rotate ( const Point3d & v ) const

Apply the rotation contained in this quaternion on the vector.

◆ setAxisAngle()

void mgx::Quaternion::setAxisAngle	(	const Point3d &	axis,
		double	angle
	)

Set the quaternion to the described rotation.

Parameters

axis	Axis of the rotation
angle	Angle of the rotation

◆ setMatrix() [1/2]

void mgx::Quaternion::setMatrix ( Matrix3d & m ) const

Fill the matrix as argument from the quaternion.

Multiplying with this matrix is equivalent to performing a rotation with this quaternion.

◆ setMatrix() [2/2]

void mgx::Quaternion::setMatrix ( Matrix4d & m ) const

Fill the matrix as argument from the quaternion.

Multiplying with this matrix is equivalent to performing a rotation with this quaternion.

◆ w() [1/2]

double& mgx::Quaternion::w ( )

inline

Accessing the real part of the quaternion.

Definition at line 88 of file Quaternion.hpp.

◆ w() [2/2]

const double& mgx::Quaternion::w ( ) const

inline

Accessing the real part of the quaternion.

Definition at line 92 of file Quaternion.hpp.

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

src/Quaternion.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/7]

◆ Quaternion() [2/7]

◆ Quaternion() [3/7]

◆ Quaternion() [4/7]

◆ Quaternion() [5/7]

◆ Quaternion() [6/7]

◆ Quaternion() [7/7]

Member Function Documentation

◆ angle()

◆ axis()

◆ conjugate()

◆ inverse()

◆ inverseRotate()

◆ operator*()

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator/()

◆ operator/=()

◆ operator=()

◆ rotate()

◆ setAxisAngle()

◆ setMatrix() [1/2]

◆ setMatrix() [2/2]

◆ w() [1/2]

◆ w() [2/2]