#include <BALL/MATHS/quaternion.h>

Inheritance diagram for BALL::TQuaternion< T >:

Public Member Functions
Constructors and Destructors
	TQuaternion ()

	TQuaternion (const TQuaternion &q)

	TQuaternion (const Eigen::Quaternion< T > &q)

	TQuaternion (const T &a, const T &b, const T &c, const T &d)

	TQuaternion (const TVector3< T > &axis, const T &angle)

	~TQuaternion ()

void	clear ()

Assignment
void	set (const TQuaternion &q)

void	set (const Eigen::Quaternion< T > &q)

void	set (const T &a, const T &b, const T &c, const T &d)

TQuaternion &	operator= (const TQuaternion &q)

TQuaternion &	operator= (const Eigen::Quaternion< T > &q)

bool	operator== (const TQuaternion< T > &q)
	Equality operator Returns true if the given Quaternion q is equal to this. More...

void	setIdentity ()

TQuaternion< T > &	normalize ()

void	swap (TQuaternion &q)

void	fromAxisAngle (const TVector3< T > &axis, const T &angle)

void	fromEulerAngles (const T &yaw, const T &pitch, const T &roll)

void	toAxisAngle (TVector3< T > &axis, T &angle)

void	toEulerAngles (T &yaw, T &pitch, T &roll)

void	get (TQuaternion &q) const

T	getAngle () const

TVector3< T >	getAxis ()

TMatrix4x4< T > &	getRotationMatrix (TMatrix4x4< T > &m) const

TQuaternion	getInverse () const

TQuaternion	getConjugate () const

Accessors
T &	w ()

const T &	w () const

T &	i ()

const T &	i () const

T &	j ()

const T &	j () const

T &	k ()

const T &	k () const

Debugging and Diagnostics
void	dump (std::ostream &s=std::cout, Size depth=0) const

Detailed Description

template<typename T>
class BALL::TQuaternion< T >

Generic Quaternion Class.

Representing a rotation in three dimensional space.

Definition at line 23 of file quaternion.h.

Constructor & Destructor Documentation

◆ TQuaternion() [1/5]

template<typename T >

BALL::TQuaternion< T >::TQuaternion

Default constructor. This method creates a new TQuaternion object. The quaternion is set to an identity quaternion.

Definition at line 294 of file quaternion.h.

◆ TQuaternion() [2/5]

template<typename T >

BALL::TQuaternion< T >::TQuaternion ( const TQuaternion< T > & q )

Copy constructor. Create a new TQuaternion object from another.

Parameters

TQuaternion the TQuaternion object to be copied

Definition at line 301 of file quaternion.h.

◆ TQuaternion() [3/5]

template<typename T >

BALL::TQuaternion< T >::TQuaternion ( const Eigen::Quaternion< T > & q )

Detailed constructor. Create a new TQuaternion object from an Eigen::Quaternion<T>.

Parameters

Eigen::Quaternion<T>

Definition at line 307 of file quaternion.h.

◆ TQuaternion() [4/5]

template<typename T >

BALL::TQuaternion< T >::TQuaternion	(	const T &	a,
		const T &	b,
		const T &	c,
		const T &	d
	)

Detailed constructor. Create a new TQuaternion object from four values of type T.

Parameters

w	assigned to the angular component w
i	assigned to the vector component i
j	assigned to the vector component j
k	assigned to the vector component k

Definition at line 313 of file quaternion.h.

◆ TQuaternion() [5/5]

template<typename T >

BALL::TQuaternion< T >::TQuaternion	(	const TVector3< T > &	axis,
		const T &	angle
	)

Detailed constructor. Create a new TQuaternion object from a variable of type TVector3 and an angle.

Parameters

axis	assigned to the axis
angle	assigned to the angle

Definition at line 319 of file quaternion.h.

◆ ~TQuaternion()

template<typename T >

BALL::TQuaternion< T >::~TQuaternion

Destructor. Destructs the TQuaternion object. As there are no dynamic data structures, nothing happens.

Definition at line 326 of file quaternion.h.

Member Function Documentation

◆ clear()

template<typename T >

void BALL::TQuaternion< T >::clear

Clear method. The values are set to the identity quaternion.

Definition at line 331 of file quaternion.h.

◆ dump()

template<typename T >

void BALL::TQuaternion< T >::dump	(	std::ostream &	s = `std::cout`,
		Size	depth = `0`
	)		const

Internal state dump. Dump the current internal state of {*this} to the output ostream s with dumping depth depth .

Parameters

s	- output stream where to output the internal state of {*this}
depth	- the dumping depth

Definition at line 605 of file quaternion.h.

◆ fromAxisAngle()

template<typename T >

void BALL::TQuaternion< T >::fromAxisAngle	(	const TVector3< T > &	axis,
		const T &	angle
	)

Assign the TQuaternion from an rotation axis and an angle.

Parameters

axis	the rotation axis
angle	the rotation angle

Definition at line 407 of file quaternion.h.

◆ fromEulerAngles()

template<typename T >

void BALL::TQuaternion< T >::fromEulerAngles	(	const T &	yaw,
		const T &	pitch,
		const T &	roll
	)

Assign the TQuaternion from Euler angles. Assume the following rotation order: q' = roll( pitch( yaw(q) ) ).

Parameters

yaw	the rotation about the yaw axis z-axis()
pitch	the rotation about the pitch axis (y-axis)
roll	the nrotation about the roll axis (x-axis)

Definition at line 419 of file quaternion.h.

◆ get()

template<typename T >

BALL_INLINE void BALL::TQuaternion< T >::get ( TQuaternion< T > & q ) const

Assign to another TQuaternion. Assigns the components to another TQuaternion.

Parameters

q	the TQuaternion to be assigned to

Definition at line 488 of file quaternion.h.

◆ getAngle()

template<typename T >

T BALL::TQuaternion< T >::getAngle

Get the positive angle rotation.

Returns: T the angle value

Definition at line 494 of file quaternion.h.

◆ getAxis()

template<typename T >

TVector3< T > BALL::TQuaternion< T >::getAxis

Get the normalized direction vector of the rotation axis.

Returns: TVector3 the axis

Definition at line 502 of file quaternion.h.

◆ getConjugate()

template<typename T >

BALL_INLINE TQuaternion< T > BALL::TQuaternion< T >::getConjugate

Return the conjugate TQuaternion. (The axis components are negated.)

Returns: TQuaternion the conjugate TQuaternion

Definition at line 534 of file quaternion.h.

◆ getInverse()

template<typename T >

BALL_INLINE TQuaternion< T > BALL::TQuaternion< T >::getInverse

Get the inverse TQuaternion.

Returns: TQuaternion the inverse TQuaternion

Definition at line 527 of file quaternion.h.

◆ getRotationMatrix()

template<typename T >

TMatrix4x4< T > & BALL::TQuaternion< T >::getRotationMatrix ( TMatrix4x4< T > & m ) const

Get the rotation matrix.

Parameters

m	the matrix to compute from

Returns: TMatrix4x4 the rotation matrix

Definition at line 511 of file quaternion.h.

◆ i() [1/2]

template<typename T >

T & BALL::TQuaternion< T >::i

Get the axis component i.

Returns: get a reference to the axis component i

Definition at line 558 of file quaternion.h.

◆ i() [2/2]

template<typename T >

const T & BALL::TQuaternion< T >::i

Get the constant axis component i.

Returns: get a const reference to the axis component i

Definition at line 552 of file quaternion.h.

◆ j() [1/2]

template<typename T >

T & BALL::TQuaternion< T >::j

Get the axis component j.

Returns: get a reference to the axis component j

Definition at line 570 of file quaternion.h.

◆ j() [2/2]

template<typename T >

const T & BALL::TQuaternion< T >::j

Get the constant axis component j.

Returns: get a const reference to the axis component j

Definition at line 564 of file quaternion.h.

◆ k() [1/2]

template<typename T >

T & BALL::TQuaternion< T >::k

Get the axis component k.

Returns: get a reference to the axis component k

Definition at line 582 of file quaternion.h.

◆ k() [2/2]

template<typename T >

const T & BALL::TQuaternion< T >::k

Get the constant axis component k.

Returns: get a const reference to the axis component k

Definition at line 576 of file quaternion.h.

◆ normalize()

template<typename T >

BALL_INLINE TQuaternion< T > & BALL::TQuaternion< T >::normalize

Normalize the quaternion. The quaternion is scaled with its norm:

Returns: TQuaternion&, a reference to the normalized quaternion

Definition at line 390 of file quaternion.h.

◆ operator=() [1/2]

template<typename T >

BALL_INLINE TQuaternion< T > & BALL::TQuaternion< T >::operator= ( const Eigen::Quaternion< T > & q )

Assignment operator Assign the TQuaternion components from an Eigen::Quaternion.

Definition at line 360 of file quaternion.h.

◆ operator=() [2/2]

template<typename T >

BALL_INLINE TQuaternion< T > & BALL::TQuaternion< T >::operator= ( const TQuaternion< T > & q )

Assignment operator. Assign the TQuaternion components form another TQuaternion.

Definition at line 368 of file quaternion.h.

◆ operator==()

template<typename T >

BALL_INLINE bool BALL::TQuaternion< T >::operator== ( const TQuaternion< T > & q )

Equality operator Returns true if the given Quaternion q is equal to this.

Definition at line 376 of file quaternion.h.

◆ set() [1/3]

template<typename T >

void BALL::TQuaternion< T >::set ( const Eigen::Quaternion< T > & q )

Assign coefficients of q to this quaternion

Parameters

q	the Eigen::Quaternion<T> to copy coefficients from

Definition at line 343 of file quaternion.h.

◆ set() [2/3]

template<typename T >

BALL_INLINE void BALL::TQuaternion< T >::set	(	const T &	a,
		const T &	b,
		const T &	c,
		const T &	d
	)

Assign the TQuaternion components.

Parameters

w	assigned to the angular component w
i	assigned to the vector component i
j	assigned to the vector component j
k	assigned to the vector component k

Definition at line 350 of file quaternion.h.

◆ set() [3/3]

template<typename T >

void BALL::TQuaternion< T >::set ( const TQuaternion< T > & q )

Assign coefficients of q to this quaternion

Parameters

q	the Quaternion to copy coefficients from

Definition at line 337 of file quaternion.h.

◆ setIdentity()

template<typename T >

BALL_INLINE void BALL::TQuaternion< T >::setIdentity

Set to an identity matrix. angular component w = 1; axis components i,j,k are set to 0;

Definition at line 383 of file quaternion.h.

◆ swap()

template<typename T >

void BALL::TQuaternion< T >::swap ( TQuaternion< T > & q )

Swap the contents of two TQuaternion.

Parameters

q	the TQuaternion to swap contents with

Definition at line 398 of file quaternion.h.

◆ toAxisAngle()

template<typename T >

void BALL::TQuaternion< T >::toAxisAngle	(	TVector3< T > &	axis,
		T &	angle
	)

Assign the TQuaternion to an axis and an angle. the rotation axis is normalized.

Parameters

axis	the rotation axis
angle	the rotation angle

Definition at line 441 of file quaternion.h.

◆ toEulerAngles()

template<typename T >

void BALL::TQuaternion< T >::toEulerAngles	(	T &	yaw,
		T &	pitch,
		T &	roll
	)

Assign the TQuaternion to Euler angles. Assume the following rotation order: q' = roll( pitch( yaw(q) ) ).

Parameters

yaw	the rotation about the yaw axis z-axis()
pitch	the rotation about the pitch axis (y-axis)
roll	the nrotation about the roll axis (x-axis)

Definition at line 452 of file quaternion.h.

◆ w() [1/2]

template<typename T >

T & BALL::TQuaternion< T >::w

Get the angular component w.

Returns: get a reference to the angular component w

Definition at line 546 of file quaternion.h.

◆ w() [2/2]

template<typename T >

const T & BALL::TQuaternion< T >::w

Get the constant angular component w.

Returns: get a const reference to the angular component w

Definition at line 540 of file quaternion.h.

Public Member Functions

Detailed Description

template<typename T> class BALL::TQuaternion< T >

Constructor & Destructor Documentation

◆ TQuaternion() [1/5]

◆ TQuaternion() [2/5]

◆ TQuaternion() [3/5]

◆ TQuaternion() [4/5]

◆ TQuaternion() [5/5]

◆ ~TQuaternion()

Member Function Documentation

◆ clear()

◆ dump()

◆ fromAxisAngle()

◆ fromEulerAngles()

◆ get()

◆ getAngle()

◆ getAxis()

◆ getConjugate()

◆ getInverse()

◆ getRotationMatrix()

◆ i() [1/2]

◆ i() [2/2]

◆ j() [1/2]

◆ j() [2/2]

◆ k() [1/2]

◆ k() [2/2]

◆ normalize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ operator==()

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ setIdentity()

◆ swap()

◆ toAxisAngle()

◆ toEulerAngles()

◆ w() [1/2]

◆ w() [2/2]

template<typename T>
class BALL::TQuaternion< T >