Quaternion Class. More...
#include <SGQuat.hxx>
Public Member Functions | |
| SGQuat (void) | |
| Default constructor. | |
| SGQuat (T _x, T _y, T _z, T _w) | |
| Constructor. Initialize by the given values. | |
| SGQuat (const T *d) | |
| Constructor. | |
| void | getEulerRad (T &zRad, T &yRad, T &xRad) const |
| write the euler angles into the references | |
| void | getEulerDeg (T &zDeg, T &yDeg, T &xDeg) const |
| write the euler angles in degrees into the references | |
| void | getAngleAxis (T &angle, SGVec3< T > &axis) const |
| write the angle axis representation into the references | |
| void | getAngleAxis (SGVec3< T > &axis) const |
| write the angle axis representation into the references | |
| const T & | operator() (unsigned i) const |
| Access by index, the index is unchecked. | |
| T & | operator() (unsigned i) |
| Access by index, the index is unchecked. | |
| const T & | operator[] (unsigned i) const |
| Access raw data by index, the index is unchecked. | |
| T & | operator[] (unsigned i) |
| Access raw data by index, the index is unchecked. | |
| const T & | x (void) const |
| Access the x component. | |
| T & | x (void) |
| Access the x component. | |
| const T & | y (void) const |
| Access the y component. | |
| T & | y (void) |
| Access the y component. | |
| const T & | z (void) const |
| Access the z component. | |
| T & | z (void) |
| Access the z component. | |
| const T & | w (void) const |
| Access the w component. | |
| T & | w (void) |
| Access the w component. | |
| const T(& | data (void) const)[4] |
| Get the data pointer. | |
| T(& | data (void))[4] |
| Get the data pointer. | |
| SGQuat & | operator+= (const SGQuat &v) |
| Inplace addition. | |
| SGQuat & | operator-= (const SGQuat &v) |
| Inplace subtraction. | |
| template<typename S > | |
| SGQuat & | operator*= (S s) |
| Inplace scalar multiplication. | |
| template<typename S > | |
| SGQuat & | operator/= (S s) |
| Inplace scalar multiplication by 1/s. | |
| SGQuat & | operator*= (const SGQuat &v) |
| Inplace quaternion multiplication. | |
| SGVec3< T > | transform (const SGVec3< T > &v) const |
| Transform a vector from the current coordinate frame to a coordinate frame rotated with the quaternion. | |
| SGVec3< T > | backTransform (const SGVec3< T > &v) const |
| Transform a vector from the coordinate frame rotated with the quaternion to the current coordinate frame. | |
| SGVec3< T > | rotate (const SGVec3< T > &v) const |
| Rotate a given vector with the quaternion. | |
| SGVec3< T > | rotateBack (const SGVec3< T > &v) const |
| Rotate a given vector with the inverse quaternion. | |
| SGQuat | derivative (const SGVec3< T > &angVel) const |
| Return the time derivative of the quaternion given the angular velocity. | |
Static Public Member Functions | |
| static SGQuat | unit (void) |
| Return a unit quaternion. | |
| static SGQuat | fromEulerRad (T z, T y, T x) |
| Return a quaternion from euler angles. | |
| static SGQuat | fromEulerDeg (T z, T y, T x) |
| Return a quaternion from euler angles in degrees. | |
| static SGQuat | fromYawPitchRoll (T y, T p, T r) |
| Return a quaternion from euler angles. | |
| static SGQuat | fromYawPitchRollDeg (T y, T p, T r) |
| Return a quaternion from euler angles. | |
| static SGQuat | fromHeadAttBank (T h, T a, T b) |
| Return a quaternion from euler angles. | |
| static SGQuat | fromHeadAttBankDeg (T h, T a, T b) |
| Return a quaternion from euler angles. | |
| static SGQuat | fromLonLatRad (T lon, T lat) |
| Return a quaternion rotation from the earth centered to the simulation usual horizontal local frame from given longitude and latitude. | |
| static SGQuat | fromLonLatDeg (T lon, T lat) |
| Like the above provided for convenience. | |
| static SGQuat | fromLonLat (const SGGeod &geod) |
| Like the above provided for convenience. | |
| static SGQuat | fromAngleAxis (T angle, const SGVec3< T > &axis) |
| Create a quaternion from the angle axis representation. | |
| static SGQuat | fromAngleAxisDeg (T angle, const SGVec3< T > &axis) |
| Create a quaternion from the angle axis representation. | |
| static SGQuat | fromAngleAxis (const SGVec3< T > &axis) |
| Create a quaternion from the angle axis representation where the angle is stored in the axis' length. | |
| static SGQuat | fromRotateTo (const SGVec3< T > &from, const SGVec3< T > &to) |
| Return a quaternion that rotates the from vector onto the to vector. | |
| static SGQuat | fromRotateTo (const SGVec3< T > &v1, unsigned i1, const SGVec3< T > &v2, unsigned i2) |
| Return a quaternion that rotates v1 onto the i1-th unit vector and v2 into a plane that is spanned by the i2-th and i1-th unit vector. | |
| static SGQuat | fromRealImag (T r, const SGVec3< T > &i) |
| Return a quaternion from real and imaginary part. | |
| static SGQuat | zeros (void) |
| Return an all zero vector. | |
Quaternion Class.
Definition at line 35 of file SGQuat.hxx.
Default constructor.
Does not initialize at all. If you need them zero initialized, SGQuat::zeros()
Initialize with nans in the debug build, that will guarantee to have a fast uninitialized default constructor in the release but shows up uninitialized values in the debug build very fast ...
Definition at line 41 of file SGQuat.hxx.
Constructor.
Initialize by the content of a plain array, make sure it has at least 4 elements
Definition at line 56 of file SGQuat.hxx.
Return a quaternion rotation from the earth centered to the simulation usual horizontal local frame from given longitude and latitude.
The horizontal local frame used in simulations is the frame with x-axis pointing north, the y-axis pointing eastwards and the z axis pointing downwards.
Definition at line 108 of file SGQuat.hxx.
| static SGQuat SGQuat< T >::fromRotateTo | ( | const SGVec3< T > & | v1, | |
| unsigned | i1, | |||
| const SGVec3< T > & | v2, | |||
| unsigned | i2 | |||
| ) | [inline, static] |
Return a quaternion that rotates v1 onto the i1-th unit vector and v2 into a plane that is spanned by the i2-th and i1-th unit vector.
Definition at line 166 of file SGQuat.hxx.
Inplace quaternion multiplication.
Now define the inplace multiplication.
Definition at line 556 of file SGQuat.hxx.
1.6.1