vrml_proc::math::Quaternion Struct Reference

Class representing quaternion object. The quaternion is number system that extends the complex numbers. Quaternions are used for calculations involving three-dimensional rotations,. More...

#include <Quaternion.hpp>

Public Member Functions
	Quaternion ()
	Constructs default quaternion.
	Quaternion (double x, double y, double z, const vrml_proc::math::Angle &angle)
	Constructs quaternion.
Quaternion	operator* (const Quaternion &second) const
	Overloaded operator for multiplying quaternions.
bool	IsNormalized () const
	Checks if the quaternion is normalized.
void	Normalize ()
	Normalized the quaternion.
void	Inverse ()
	Inverses the quaternion.

Public Attributes
double	x
	Publicly available values. Note that value w is in radians!
double	y
double	z
double	w

Detailed Description

Class representing quaternion object. The quaternion is number system that extends the complex numbers. Quaternions are used for calculations involving three-dimensional rotations,.

Note

The main resource for this topic was https://www.cprogramming.com/tutorial/3d/quaternions.html.

Todo

Values x, y, z and w should be private and getters and setters shouls be made!

Constructor & Destructor Documentation

Quaternion()

vrml_proc::math::Quaternion::Quaternion ( double x, double y, double z, const vrml_proc::math::Angle & angle )

inline

Constructs quaternion.

Parameters

x	x value
y	y value
z	z value
angle	w value representing angle

Member Function Documentation

Inverse()

void vrml_proc::math::Quaternion::Inverse ( )

inline

Inverses the quaternion.

Warning

Make sure that quaternion is not zero-norm!

Note

Link: https://www.mathworks.com/help/aeroblks/quaternioninverse.html.

IsNormalized()

bool vrml_proc::math::Quaternion::IsNormalized ( ) const

inline

Checks if the quaternion is normalized.

Returns

true if quaterniion is normalized, otherwise false

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

• data/to_geom/src/math/Quaternion.hpp