#include <OpenFlipper/libs_required/ACG/Math/QuaternionT.hh>

Inheritance diagram for ACG::QuaternionT< Scalar >:

Public Types
typedef VectorT< Scalar, 4 >	Base

typedef QuaternionT< Scalar >	Quaternion

typedef VectorT< Scalar, 3 >	Vec3

typedef VectorT< Scalar, 4 >	Vec4

typedef Matrix4x4T< Scalar >	Matrix

Public Types inherited from OpenMesh::VectorT< Scalar, DIM >
typedef Scalar	value_type
	the type of the scalar used in this template More...

typedef VectorT< Scalar, DIM >	vector_type
	type of this vector More...

using	iterator = typename container::iterator

using	const_iterator = typename container::const_iterator

using	reverse_iterator = typename container::reverse_iterator

using	const_reverse_iterator = typename container::const_reverse_iterator

Public Member Functions
	QuaternionT (Scalar _w=1.0, Scalar _x=0.0, Scalar _y=0.0, Scalar _z=0.0)
	construct from 4 Scalars (default) More...

	QuaternionT (const Vec3 &_p)
	construct from 3D point (pure imaginary quaternion) More...

	QuaternionT (const Vec4 &_p)
	construct from 4D vector More...

	QuaternionT (Vec3 _axis, Scalar _angle)
	construct from rotation axis and angle (in radians) More...

template<class MatrixT >
	QuaternionT (const MatrixT &_rot)
	construct from rotation matrix (only valid for rotation matrices!) More...

void	identity ()
	identity rotation More...

Quaternion	conjugate () const
	conjugate quaternion More...

Quaternion	invert () const
	invert quaternion More...

Quaternion	operator* (const Quaternion &_q) const
	quaternion * quaternion More...

Quaternion &	operator*= (const Quaternion &_q)
	quaternion *= quaternion More...

template<class Vec3T >
Vec3T	rotate (const Vec3T &_v) const
	rotate vector More...

void	axis_angle (Vec3 &_axis, Scalar &_angle) const
	get rotation axis and angle (only valid for unit quaternions!) More...

Matrix	rotation_matrix () const
	cast to rotation matrix More...

Matrix	right_mult_matrix () const
	get matrix for mult from right (p*q = Qp) More...

Matrix	left_mult_matrix () const
	get matrix for mult from left (q*p = Qp) More...

template<class MatrixT >
void	init_from_matrix (const MatrixT &_rot)
	get quaternion from rotation matrix More...

Quaternion	exponential () const
	quaternion exponential (for unit quaternions) More...

Quaternion	logarithm () const
	quaternion logarithm (for unit quaternions) More...

void	print_info ()

Public Member Functions inherited from OpenMesh::VectorT< Scalar, DIM >
template<typename T , typename ... Ts, typename = typename std::enable_if<sizeof...(Ts)+1 == DIM>::type, typename = typename std::enable_if< are_convertible_to<Scalar, T, Ts...>::value>::type>
constexpr	VectorT (T v, Ts... vs)

constexpr	VectorT ()
	default constructor creates uninitialized values. More...

	VectorT (const Scalar &v)

	VectorT (const VectorT &rhs)=default

	VectorT (VectorT &&rhs)=default

VectorT &	operator= (const VectorT &rhs)=default

VectorT &	operator= (VectorT &&rhs)=default

template<typename S = Scalar, int D = DIM>
auto	homogenized () const -> typename std::enable_if< D==4, VectorT< decltype(std::declval< S >()/std::declval< S >()), DIM > >::type

template<typename Iterator , typename = decltype( *std::declval<Iterator&>(), void(), ++std::declval<Iterator&>(), void())>
	VectorT (Iterator it)
	construct from a value array or any other iterator More...

	VectorT (container &&_array)
	construct from an array More...

template<typename otherScalarType , typename = typename std::enable_if< std::is_convertible<otherScalarType, Scalar>::value>>
	VectorT (const VectorT< otherScalarType, DIM > &_rhs)
	copy & cast constructor (explicit) More...

template<typename OtherScalar , typename = typename std::enable_if< std::is_convertible<OtherScalar, Scalar>::value>>
vector_type &	operator= (const VectorT< OtherScalar, DIM > &_rhs)
	cast from vector with a different scalar type More...

Scalar *	data ()
	access to Scalar array More...

const Scalar *	data () const
	access to const Scalar array More...

Scalar &	operator[] (size_t _i)
	get i'th element read-write More...

const Scalar &	operator[] (size_t _i) const
	get i'th element read-only More...

bool	operator== (const vector_type &_rhs) const
	component-wise comparison More...

bool	operator!= (const vector_type &_rhs) const
	component-wise comparison More...

template<typename OtherScalar >
auto	operator= (const OtherScalar &_s) -> typename std::enable_if< std::is_convertible< decltype(this->values_[0] _s), Scalar >::value, VectorT< Scalar, DIM > & >::type
	component-wise self-multiplication with scalar More...

template<typename OtherScalar >
auto	operator/= (const OtherScalar &_s) -> typename std::enable_if< std::is_convertible< decltype(this->values_[0]/_s), Scalar >::value, VectorT< Scalar, DIM > & >::type
	component-wise self-division by scalar More...

VectorT< Scalar, DIM > ::type	operator* (const OtherScalar &_s) const

VectorT< Scalar, DIM > ::type	operator/ (const OtherScalar &_s) const

template<typename OtherScalar >
auto	*operator= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0] _rhs.data())) >=0
	component-wise self-multiplication

template<typename OtherScalar >
auto	operator/= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0]/*_rhs.data())) >=0
	component-wise self-division

template<typename OtherScalar >
auto	operator-= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0] - *_rhs.data())) >=0
	vector difference from this

template<typename OtherScalar >
auto	operator+= (const VectorT< OtherScalar, DIM > &_rhs) -> typename std::enable_if< sizeof(decltype(this->values_[0]+ *_rhs.data())) >=0
	vector self-addition

template<typename OtherScalar >
auto	operator* (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0] **_rhs.data())) >=0
	component-wise vector multiplication

template<typename OtherScalar >
auto	operator/ (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0]/*_rhs.data())) >=0
	component-wise vector division

template<typename OtherScalar >
auto	operator+ (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0]+ *_rhs.data())) >=0
	component-wise vector addition

template<typename OtherScalar >
auto	operator- (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< sizeof(decltype(this->values_[0] - *_rhs.data())) >=0
	component-wise vector difference

vector_type	operator- (void) const
	unary minus More...

template<typename OtherScalar >
auto	operator% (const VectorT< OtherScalar, DIM > &_rhs) const -> typename std::enable_if< DIM==3, VectorT< decltype((this)[0] _rhs[0] -(this)[0] _rhs[0]), DIM > >::type

template<typename OtherScalar >
auto	cross (const VectorT< OtherScalar, DIM > &_rhs) const -> decltype(*this % _rhs)

template<typename OtherScalar >
auto	operator\| (const VectorT< OtherScalar, DIM > &_rhs) const -> decltype(this->data() *_rhs.data())

template<typename OtherScalar >
auto	dot (const VectorT< OtherScalar, DIM > &_rhs) const -> decltype(*this\|_rhs)

VectorT< float, 3 >	operator% (const VectorT< float, 3 > &_rhs) const
	cross product for Vec3f More...

VectorT< double, 3 >	operator% (const VectorT< double, 3 > &_rhs) const
	cross product for Vec3d More...

template<typename S = Scalar>
decltype(std::declval< S >() *std::declval< S >())	sqrnorm () const
	compute squared euclidean norm More...

template<typename S = Scalar>
auto	norm () const -> decltype(std::sqrt(std::declval< VectorT< S, DIM > >().sqrnorm()))
	compute euclidean norm More...

template<typename S = Scalar>
auto	length () const -> decltype(std::declval< VectorT< S, DIM > >().norm())
	compute squared euclidean norm More...

template<typename S = Scalar>
auto	normalize () -> decltype(*this/=std::declval< VectorT< S, DIM > >().norm())

template<typename S = Scalar>
auto	normalized () const -> decltype(*this/std::declval< VectorT< S, DIM > >().norm())

vector_type &::type	normalize_cond ()
	compute squared euclidean norm More...

Scalar	l1_norm () const
	compute L1 (Manhattan) norm More...

Scalar	l8_norm () const
	compute l8_norm More...

iterator	begin () noexcept

const_iterator	begin () const noexcept

const_iterator	cbegin () const noexcept

iterator	end () noexcept

const_iterator	end () const noexcept

const_iterator	cend () const noexcept

reverse_iterator	rbegin () noexcept

const_reverse_iterator	rbegin () const noexcept

const_reverse_iterator	crbegin () const noexcept

reverse_iterator	rend () noexcept

const_reverse_iterator	rend () const noexcept

const_reverse_iterator	crend () const noexcept

Scalar	max () const
	return the maximal component More...

Scalar	max_abs () const
	return the maximal absolute component More...

Scalar	min () const
	return the minimal component More...

Scalar	min_abs () const
	return the minimal absolute component More...

Scalar	mean () const
	return arithmetic mean More...

Scalar	mean_abs () const
	return absolute arithmetic mean More...

vector_type &	minimize (const vector_type &_rhs)
	minimize values: same as this = min(this, _rhs), but faster More...

bool	minimized (const vector_type &_rhs)
	minimize values and signalize coordinate minimization More...

vector_type &	maximize (const vector_type &_rhs)
	maximize values: same as this = max(this, _rhs), but faster More...

bool	maximized (const vector_type &_rhs)
	maximize values and signalize coordinate maximization More...

vector_type	min (const vector_type &_rhs) const
	component-wise min More...

vector_type	max (const vector_type &_rhs) const
	component-wise max More...

template<typename Functor >
vector_type	apply (const Functor &_func) const
	component-wise apply function object with Scalar operator()(Scalar). More...

vector_type &	vectorize (const Scalar &_s)
	store the same value in each component (e.g. to clear all entries) More...

bool	operator< (const vector_type &_rhs) const
	lexicographical comparison More...

void	swap (VectorT &_other) noexcept(noexcept(std::swap(values_, _other.values_)))
	swap with another vector More...

Additional Inherited Members
Static Public Member Functions inherited from OpenMesh::VectorT< Scalar, DIM >
static constexpr int	dim ()
	returns dimension of the vector (deprecated) More...

static constexpr size_t	size ()
	returns dimension of the vector More...

static vector_type	vectorized (const Scalar &_s)
	store the same value in each component More...

Static Public Attributes inherited from OpenMesh::VectorT< Scalar, DIM >
static constexpr const size_t	size_ = DIM

Related Functions inherited from OpenMesh::VectorT< Scalar, DIM >
template<typename Scalar , int DIM>
Scalar	dot (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)

template<typename LScalar , typename RScalar , int DIM>
auto	cross (const VectorT< LScalar, DIM > &_v1, const VectorT< RScalar, DIM > &_v2) -> decltype(_v1 % _v2)

template<typename Scalar , int DIM>
void	swap (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2) noexcept(noexcept(_v1.swap(_v2)))

template<typename Scalar , int DIM>
Scalar	norm (const VectorT< Scalar, DIM > &_v)

template<typename Scalar , int DIM>
Scalar	sqrnorm (const VectorT< Scalar, DIM > &_v)

template<typename Scalar , int DIM, typename OtherScalar >
VectorT< Scalar, DIM > &	vectorize (VectorT< Scalar, DIM > &_v, OtherScalar const &_val)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM > &	normalize (VectorT< Scalar, DIM > &_v)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM > &	maximize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM > &	minimize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM >	max (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM >	min (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)

template<typename Scalar1 , typename Scalar2 , int N>
VectorT< Scalar1, N >	operator* (Scalar2 _s, const VectorT< Scalar1, N > &_v)

template<typename Scalar , int N>
Scalar	dot (const VectorT< Scalar, N > &_v1, const VectorT< Scalar, N > &_v2)

template<typename Scalar , int N>
VectorT< Scalar, N >	cross (const VectorT< Scalar, N > &_v1, const VectorT< Scalar, N > &_v2)

template<typename Scalar , int DIM>
Scalar	norm (const VectorT< Scalar, DIM > &_v)

template<typename Scalar , int DIM>
Scalar	sqrnorm (const VectorT< Scalar, DIM > &_v)

template<typename Scalar , int DIM, typename OtherScalar >
VectorT< Scalar, DIM > &	vectorize (VectorT< Scalar, DIM > &_v, OtherScalar const &_val)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM > &	normalize (VectorT< Scalar, DIM > &_v)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM > &	maximize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM > &	minimize (VectorT< Scalar, DIM > &_v1, VectorT< Scalar, DIM > &_v2)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM >	max (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)

template<typename Scalar , int DIM>
VectorT< Scalar, DIM >	min (const VectorT< Scalar, DIM > &_v1, const VectorT< Scalar, DIM > &_v2)

Detailed Description

template<class Scalar>
class ACG::QuaternionT< Scalar >

Quaternion class for representing rotations.

Definition at line 75 of file QuaternionT.hh.

Member Typedef Documentation

◆ Base

template<class Scalar >

typedef VectorT<Scalar,4> ACG::QuaternionT< Scalar >::Base

Definition at line 85 of file QuaternionT.hh.

◆ Matrix

template<class Scalar >

typedef Matrix4x4T<Scalar> ACG::QuaternionT< Scalar >::Matrix

Definition at line 89 of file QuaternionT.hh.

◆ Quaternion

template<class Scalar >

typedef QuaternionT<Scalar> ACG::QuaternionT< Scalar >::Quaternion

Definition at line 86 of file QuaternionT.hh.

◆ Vec3

template<class Scalar >

typedef VectorT<Scalar,3> ACG::QuaternionT< Scalar >::Vec3

Definition at line 87 of file QuaternionT.hh.

◆ Vec4

template<class Scalar >

typedef VectorT<Scalar,4> ACG::QuaternionT< Scalar >::Vec4

Definition at line 88 of file QuaternionT.hh.

Constructor & Destructor Documentation

◆ QuaternionT() [1/5]

template<class Scalar >

ACG::QuaternionT< Scalar >::QuaternionT	(	Scalar	_w = `1.0`,
		Scalar	_x = `0.0`,
		Scalar	_y = `0.0`,
		Scalar	_z = `0.0`
	)

inline

construct from 4 Scalars (default)

Definition at line 93 of file QuaternionT.hh.

◆ QuaternionT() [2/5]

template<class Scalar >

ACG::QuaternionT< Scalar >::QuaternionT ( const Vec3 & _p )

inline

construct from 3D point (pure imaginary quaternion)

Definition at line 97 of file QuaternionT.hh.

◆ QuaternionT() [3/5]

template<class Scalar >

ACG::QuaternionT< Scalar >::QuaternionT ( const Vec4 & _p )

inline

construct from 4D vector

Definition at line 101 of file QuaternionT.hh.

◆ QuaternionT() [4/5]

template<class Scalar >

ACG::QuaternionT< Scalar >::QuaternionT	(	Vec3	_axis,
		Scalar	_angle
	)

inline

construct from rotation axis and angle (in radians)

Definition at line 105 of file QuaternionT.hh.

◆ QuaternionT() [5/5]

template<class Scalar >

template<class MatrixT >

ACG::QuaternionT< Scalar >::QuaternionT ( const MatrixT & _rot )

inline

construct from rotation matrix (only valid for rotation matrices!)

Definition at line 118 of file QuaternionT.hh.

Member Function Documentation

◆ axis_angle()

template<class Scalar >

void ACG::QuaternionT< Scalar >::axis_angle	(	Vec3 &	_axis,
		Scalar &	_angle
	)		const

inline

get rotation axis and angle (only valid for unit quaternions!)

Definition at line 159 of file QuaternionT.hh.

◆ conjugate()

template<class Scalar >

Quaternion ACG::QuaternionT< Scalar >::conjugate ( ) const

inline

conjugate quaternion

Definition at line 127 of file QuaternionT.hh.

◆ exponential()

template<class Scalar >

Quaternion ACG::QuaternionT< Scalar >::exponential ( ) const

inline

quaternion exponential (for unit quaternions)

Definition at line 297 of file QuaternionT.hh.

◆ identity()

template<class Scalar >

void ACG::QuaternionT< Scalar >::identity ( )

inline

identity rotation

Definition at line 123 of file QuaternionT.hh.

◆ init_from_matrix()

template<class Scalar >

template<class MatrixT >

void ACG::QuaternionT< Scalar >::init_from_matrix ( const MatrixT & _rot )

inline

get quaternion from rotation matrix

Definition at line 254 of file QuaternionT.hh.

◆ invert()

template<class Scalar >

Quaternion ACG::QuaternionT< Scalar >::invert ( ) const

inline

invert quaternion

Definition at line 132 of file QuaternionT.hh.

◆ left_mult_matrix()

template<class Scalar >

Matrix ACG::QuaternionT< Scalar >::left_mult_matrix ( ) const

inline

get matrix for mult from left (q*p = Qp)

Definition at line 241 of file QuaternionT.hh.

◆ logarithm()

template<class Scalar >

Quaternion ACG::QuaternionT< Scalar >::logarithm ( ) const

inline

quaternion logarithm (for unit quaternions)

Definition at line 314 of file QuaternionT.hh.

◆ operator*()

template<class Scalar >

Quaternion ACG::QuaternionT< Scalar >::operator* ( const Quaternion & _q ) const

inline

quaternion * quaternion

Definition at line 137 of file QuaternionT.hh.

◆ operator*=()

template<class Scalar >

Quaternion & ACG::QuaternionT< Scalar >::operator*= ( const Quaternion & _q )

inline

quaternion *= quaternion

Definition at line 145 of file QuaternionT.hh.

◆ print_info()

template<class Scalar >

void ACG::QuaternionT< Scalar >::print_info ( )

inline

Definition at line 334 of file QuaternionT.hh.

◆ right_mult_matrix()

template<class Scalar >

Matrix ACG::QuaternionT< Scalar >::right_mult_matrix ( ) const

inline

get matrix for mult from right (p*q = Qp)

Definition at line 229 of file QuaternionT.hh.

◆ rotate()

template<class Scalar >

template<class Vec3T >

Vec3T ACG::QuaternionT< Scalar >::rotate ( const Vec3T & _v ) const

inline

rotate vector

Definition at line 151 of file QuaternionT.hh.

◆ rotation_matrix()

template<class Scalar >

Matrix ACG::QuaternionT< Scalar >::rotation_matrix ( ) const

inline

cast to rotation matrix

Definition at line 176 of file QuaternionT.hh.

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

OpenFlipper/libs_required/ACG/Math/QuaternionT.hh

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Matrix

◆ Quaternion

◆ Vec3

◆ Vec4

Constructor & Destructor Documentation

◆ QuaternionT() [1/5]

◆ QuaternionT() [2/5]

◆ QuaternionT() [3/5]

◆ QuaternionT() [4/5]

◆ QuaternionT() [5/5]

Member Function Documentation

◆ axis_angle()

◆ conjugate()

◆ exponential()

◆ identity()

◆ init_from_matrix()

◆ invert()

◆ left_mult_matrix()

◆ logarithm()

◆ operator*()

◆ operator*=()

◆ print_info()

◆ right_mult_matrix()

◆ rotate()

◆ rotation_matrix()