Base classes

• public vtb::geometry::Quaternion< T >

Types

• using vec4 = typename Quaternion< T >::vec4
• using vec3 = typename Quaternion< T >::vec3

Methods

• operator=(Unit_quaternion &&) -> Unit_quaternion &
• Unit_quaternion(Unit_quaternion &&)
• operator=(const Unit_quaternion &) -> Unit_quaternion &
• Unit_quaternion(const Unit_quaternion &)
• ~Unit_quaternion()
• Unit_quaternion()
• operator=(Quaternion< T > && q) -> Unit_quaternion &
• operator=(const Quaternion< T > & q) -> Unit_quaternion &
• Unit_quaternion(Quaternion< T > && q)
• Unit_quaternion(const Quaternion< T > & q)
• Unit_quaternion(T re, const vec3 & im)
• Unit_quaternion(const vec4 & q)
• Unit_quaternion(T s, T x, T y, T z)

Derived classes

• vtb::geometry::Unit_quaternion< T >

Types

• using vec3 = Vertex< T, 3 >
• using vec4 = Vertex< T, 4 >

Fields

• vec4 _data

Methods

• exp(const vec3 & v) -> Quaternion
• data() const -> const vec4 &
• operator[](int i) const -> T
• operator()(int i) const -> T
• imag() const -> vec3
• real() const -> T
• clear() -> void
• z() const -> T
• y() const -> T
• x() const -> T
• w() const -> T
• operator=(Quaternion &&) -> Quaternion &
• Quaternion(Quaternion &&)
• operator=(const Quaternion &) -> Quaternion &
• Quaternion(const Quaternion &)
• ~Quaternion()
• Quaternion()
• Quaternion(T re, const vec3 & im)
• Quaternion(const vec4 & q)
• Quaternion(T s, T x, T y, T z)

Friends

• operator>>
• operator<<

Types

• using quaternion_type = Quaternion< T >
• using vertex_type = Vertex< T, 3 >
• using scalar_type = T

Methods

• clear() -> void
• origin(const vertex_type & rhs) -> void
• origin() const -> const vertex_type &
• quaternion(const quaternion_type & rhs) -> void
• quaternion_conj() const -> const quaternion_type &
• quaternion() const -> const quaternion_type &
• Quaternion_coordinate_system(const quaternion_type & q, const vertex_type & origin)
• Quaternion_coordinate_system(const quaternion_type & q, const quaternion_type & q_conj, const vertex_type & origin)
• Quaternion_coordinate_system()

Rotation matrix for a quaternion. The matrix is computed as follows. $$R = \left[\begin{array}{ccc} w^2 + x^2 - (y^2 + z^2) & 2 (x y - w z) & 2 (x z + w y) \\ 2 (x y + w z) & w^2 + y^2 - (x^2 + z^2) & 2 (y z - w y) \\ 2 (x z - w y) & 2 (y z + w x) & w^2 + z^2 - (x^2 + y^2) & \end{array}\right]$$ Here $\left(w,x,y,z\right)$ are quaternion components.

Hamilton product.

Convert quaternion to Euler angles.