SH::ShQuaternion< B, T > Class Template Reference

A Quaternion. More...

#include <ShQuaternion.hpp>

Collaboration diagram for SH::ShQuaternion< B, T >:


Public Types
typedef ShHostType< T >::type	HostType
Public Member Functions
	ShQuaternion ()
	Constructor for ShQuaternion.
template<ShBindingType B2>
	ShQuaternion (const ShQuaternion< B2, T > &other)
	Constructor for ShQuaternion with a quaternion as parameter.
template<ShBindingType B2>
	ShQuaternion (const ShAttrib< 4, B2, T, SH_VECTOR > &values)
	Constructor for ShQuaternion with a 4-vector as parameter.
template<ShBindingType B2, ShBindingType B3>
	ShQuaternion (const ShAttrib< 1, B2, T > &angle, const ShAttrib< 3, B3, T, SH_VECTOR > &axis)
	Constructor for ShQuaternion with an angle and axis of rotation.
template<ShBindingType B2>
	ShQuaternion (const ShMatrix< 4, 4, B2, T > &mat)
	Constructor for ShQuaternion with a rotation matrix.
template<ShBindingType B2>
ShQuaternion &	operator= (const ShQuaternion< B2, T > &other)
	Definition of assignment to another quaternion.
template<ShBindingType B2>
ShQuaternion &	operator+= (const ShQuaternion< B2, T > &right)
	Definition of the add-assign operation with another quaternion.
template<ShBindingType B2>
ShQuaternion &	operator-= (const ShQuaternion< B2, T > &right)
	Definition of the minus-assign operation with another quaternion.
template<ShBindingType B2>
ShQuaternion &	operator *= (const ShQuaternion< B2, T > &right)
	Definition of the times-assign operation with another quaternion.
template<ShBindingType B2>
ShQuaternion &	operator *= (const ShAttrib< 1, B2, T > &right)
	Definition of the times-assign operation with a scalar.
template<ShBindingType B2>
ShQuaternion &	operator *= (const ShAttrib< 3, B2, T, SH_VECTOR > &right)
	Definition of the times-assign operation with a 3-vector.
template<ShBindingType B2>
ShQuaternion &	operator *= (const ShAttrib< 3, B2, T, SH_NORMAL > &right)
	Definition of the times-assign operation with a 3-normal.
template<ShBindingType B2>
ShQuaternion< SH_TEMP, T >	operator+ (const ShQuaternion< B2, T > &q2)
	Definition of the add operation with another quaternion.
template<ShBindingType B2>
ShQuaternion< SH_TEMP, T >	operator- (const ShQuaternion< B2, T > &q2)
	Definition of the subtract operation with another quaternion.
template<ShBindingType B2>
ShQuaternion< SH_TEMP, T >	operator * (const ShQuaternion< B2, T > &q2)
	Definition of the multiply operation with another quaternion.
template<ShBindingType B2>
ShQuaternion< SH_TEMP, T >	operator * (const ShAttrib< 1, B2, T > &c)
	Definition of the multiply operation with a scalar.
template<ShBindingType B2>
ShQuaternion< SH_TEMP, T >	operator * (const ShAttrib< 3, B2, T, SH_VECTOR > &q2)
	Definition of the times operation with a 3-vector.
template<ShBindingType B2>
ShQuaternion< SH_TEMP, T >	operator * (const ShAttrib< 3, B2, T, SH_NORMAL > &q2)
	Definition of the times operation with a 3-normal.
void	normalize ()
	Definition of the normalize function.
void	getValues (HostType values[]) const
	Definition of the getValues function.
void	setUnit (bool flag)
	Definition of the setUnit function.
void	name (const std::string &name)
	Definition of the name function.
std::string	name () const
	Definition of the name function.
template<ShBindingType B2>
ShAttrib< 1, SH_TEMP, T >	dot (const ShQuaternion< B2, T > &q) const
	Definition of the dot function.
ShQuaternion< SH_TEMP, T >	conjugate () const
	Definition of the conjugate function.
ShQuaternion< SH_TEMP, T >	inverse () const
	Definition of the inverse function.
ShMatrix< 4, 4, SH_TEMP, T >	getMatrix () const
	Definition of the getMatrix function.
ShAttrib< 4, SH_TEMP, T, SH_VECTOR >	getVector () const
	Definition of the getVector function.
Friends
template<ShBindingType B2, typename T2>
std::ostream &	operator<< (std::ostream &out, const ShQuaternion< B2, T2 > &q)

Detailed Description

template<ShBindingType B, typename T = float>
class SH::ShQuaternion< B, T >

A Quaternion.

Definition at line 31 of file ShQuaternion.hpp.

Constructor & Destructor Documentation

template<ShBindingType B, typename T>

SH::ShQuaternion< B, T >::ShQuaternion ( )

Constructor for ShQuaternion.
Creates a identity ShQuaternion
Definition at line 24 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

SH::ShQuaternion< B, T >::ShQuaternion ( const ShQuaternion< B2, T > & other )

Constructor for ShQuaternion with a quaternion as parameter.
Creates a ShQuaternion where each element is equal to the one in the parameters
Parameters:

other the quaternion from which we will get the values from

Definition at line 35 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

SH::ShQuaternion< B, T >::ShQuaternion ( const ShAttrib< 4, B2, T, SH_VECTOR > & values )

Constructor for ShQuaternion with a 4-vector as parameter.
Creates a ShQuaternion where each element is equal to the one in the parameters
Parameters:

values 4-vector from which we will get the values from

Definition at line 42 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2, ShBindingType B3>

SH::ShQuaternion< B, T >::ShQuaternion ( const ShAttrib< 1, B2, T > & angle,

const ShAttrib< 3, B3, T, SH_VECTOR > & axis

)

Constructor for ShQuaternion with an angle and axis of rotation.
Creates a unit ShQuaternion defined by a rotation
Parameters:

angle angle in radians of the rotation

axis axis of rotation

Definition at line 49 of file ShQuaternionImpl.hpp.
References SH::cos(), SH::normalize(), and SH::sin().

template<ShBindingType B, typename T>

template<ShBindingType B2>

SH::ShQuaternion< B, T >::ShQuaternion ( const ShMatrix< 4, 4, B2, T > & mat )

Constructor for ShQuaternion with a rotation matrix.
Creates a unit ShQuaternion defined by a rotation
Parameters:

mat matrix defining the rotation

Precondition:
det(mat) = 1

Definition at line 60 of file ShQuaternionImpl.hpp.
References SH::sqrt(), and SH::trace().

Member Function Documentation

template<ShBindingType B, typename T>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::conjugate ( ) const

Definition of the conjugate function.
Returns the conjugate of this quaternion
Definition at line 210 of file ShQuaternionImpl.hpp.
Referenced by SH::ShQuaternion< B, T >::inverse().

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShAttrib< 1, SH_TEMP, T > SH::ShQuaternion< B, T >::dot ( const ShQuaternion< B2, T > & q ) const

Definition of the dot function.
Returns the dot product between this quaternion and q
Parameters:

q quaternion we're taking the dot product with

Definition at line 204 of file ShQuaternionImpl.hpp.
References SH::dot(), and SH::ShQuaternion< B, T >::getVector().
Referenced by SH::slerp().

template<ShBindingType B, typename T>

ShMatrix< 4, 4, SH_TEMP, T > SH::ShQuaternion< B, T >::getMatrix ( ) const

Definition of the getMatrix function.
Returns the rotation matrix defined by this quaternion
Precondition:
this quaternion is unit

Definition at line 232 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

void SH::ShQuaternion< B, T >::getValues ( HostType values[] ) const

Definition of the getValues function.
Outputs the current content of the quaternion as a T array
Parameters:

values output T array

Definition at line 327 of file ShQuaternionImpl.hpp.
References SH::ShGeneric< N, T >::getValues().

template<ShBindingType B, typename T>

ShAttrib< 4, SH_TEMP, T, SH_VECTOR > SH::ShQuaternion< B, T >::getVector ( ) const

Definition of the getVector function.
Returns the values of this quaternion as a vector
Definition at line 255 of file ShQuaternionImpl.hpp.
Referenced by SH::ShQuaternion< B, T >::dot(), SH::ShQuaternion< B, T >::operator *=(), SH::ShQuaternion< B, T >::operator+=(), SH::ShQuaternion< B, T >::operator-=(), and SH::ShQuaternion< B, T >::operator=().

template<ShBindingType B, typename T>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::inverse ( ) const

Definition of the inverse function.
Returns the inverse of this quaternion (same as conjugate if unit)
Definition at line 221 of file ShQuaternionImpl.hpp.
References SH::ShQuaternion< B, T >::conjugate(), and SH::dot().

template<ShBindingType B, typename T>

std::string SH::ShQuaternion< B, T >::name ( ) const

Definition of the name function.
Returns this variable's name.
Definition at line 358 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

void SH::ShQuaternion< B, T >::name ( const std::string & name )

Definition of the name function.
Set this variable's name. If set to the empty string, defaults to the type and id of the variable.
Parameters:

name the name string

Definition at line 364 of file ShQuaternionImpl.hpp.
References SH::ShMetaForwarder::name().

template<ShBindingType B, typename T>

void SH::ShQuaternion< B, T >::normalize ( )

Definition of the normalize function.
Normalizes the current quaternion which makes it unit
Definition at line 315 of file ShQuaternionImpl.hpp.
References SH::normalize().

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::operator * ( const ShAttrib< 3, B2, T, SH_NORMAL > & q2 )

Definition of the times operation with a 3-normal.
Returns a new ShQuaternion equals to the current quaternion * ShQuaternion(0.0, right)
Parameters:

q2 3-normal converted to a quaternion multiplied to this one

Definition at line 308 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::operator * ( const ShAttrib< 3, B2, T, SH_VECTOR > & q2 )

Definition of the times operation with a 3-vector.
Returns a new ShQuaternion equals to the current quaternion * ShQuaternion(0.0, right)
Parameters:

q2 3-vector converted to a quaternion multiplied to this one

Definition at line 299 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::operator * ( const ShAttrib< 1, B2, T > & c )

Definition of the multiply operation with a scalar.
Returns a new ShQuaternion equals to the current quaternion * c
Parameters:

c the scalar multiplied to this one

Definition at line 290 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::operator * ( const ShQuaternion< B2, T > & q2 )

Definition of the multiply operation with another quaternion.
Returns a new ShQuaternion equals to the current quaternion * q2
Parameters:

q2 the other quaternion multiplied to this one

Definition at line 281 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator *= ( const ShAttrib< 3, B2, T, SH_NORMAL > & right )

Definition of the times-assign operation with a 3-normal.
Returns the address of a quaternion where the result is the current quaternion * ShQuaternion(0.0, right)
Parameters:

right 3-normal converted to a quaternion multiplied to this one

Definition at line 191 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator *= ( const ShAttrib< 3, B2, T, SH_VECTOR > & right )

Definition of the times-assign operation with a 3-vector.
Returns the address of a quaternion where the result is the current quaternion * ShQuaternion(0.0, right)
Parameters:

right 3-vector converted to a quaternion multiplied to this one

Definition at line 178 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator *= ( const ShAttrib< 1, B2, T > & right )

Definition of the times-assign operation with a scalar.
Returns the address of a quaternion where the result is the current quaternion (each component) multiplied by right
Parameters:

right the scalar multiplied to this quaternion

Definition at line 169 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator *= ( const ShQuaternion< B2, T > & right )

Definition of the times-assign operation with another quaternion.
Returns the address of a quaternion where the result is the current quaternion * right
Parameters:

right the other quaternion multiplied to this one

Definition at line 151 of file ShQuaternionImpl.hpp.
References SH::cross(), SH::dot(), and SH::ShQuaternion< B, T >::getVector().

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::operator+ ( const ShQuaternion< B2, T > & q2 )

Definition of the add operation with another quaternion.
Returns a new ShQuaternion equals to the current quaternion + q2
Parameters:

q2 the other quaternion added to this one

Definition at line 263 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator+= ( const ShQuaternion< B2, T > & right )

Definition of the add-assign operation with another quaternion.
Returns the address of a quaternion where the result is the current quaternion + right
Parameters:

right the other quaternion added to this one

Definition at line 133 of file ShQuaternionImpl.hpp.
References SH::ShQuaternion< B, T >::getVector().

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< SH_TEMP, T > SH::ShQuaternion< B, T >::operator- ( const ShQuaternion< B2, T > & q2 )

Definition of the subtract operation with another quaternion.
Returns a new ShQuaternion equals to the current quaternion - q2
Parameters:

q2 the other quaternion subtracted from this one

Definition at line 272 of file ShQuaternionImpl.hpp.

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator-= ( const ShQuaternion< B2, T > & right )

Definition of the minus-assign operation with another quaternion.
Returns the address of a quaternion where the result is the current quaternion - right
Parameters:

right the other quaternion subtracted from this one

Definition at line 142 of file ShQuaternionImpl.hpp.
References SH::ShQuaternion< B, T >::getVector().

template<ShBindingType B, typename T>

template<ShBindingType B2>

ShQuaternion< B, T > & SH::ShQuaternion< B, T >::operator= ( const ShQuaternion< B2, T > & other )

Definition of assignment to another quaternion.
Returns the address of a quaternion from which the values were copied from other
Parameters:

other ShQuaternion from which we will get the values from

Definition at line 124 of file ShQuaternionImpl.hpp.
References SH::ShQuaternion< B, T >::getVector().

template<ShBindingType B, typename T>

void SH::ShQuaternion< B, T >::setUnit ( bool flag )

Definition of the setUnit function.
Manually indicate whether the quaternion is unit or non-unit
Parameters:

flag true or false

Definition at line 321 of file ShQuaternionImpl.hpp.

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

Generated on Wed Nov 9 15:36:01 2005 for Sh by

1.4.5

SH::ShQuaternion< B, T > Class Template Reference

Public Types

Public Member Functions

Friends

Detailed Description

template<ShBindingType B, typename T = float> class SH::ShQuaternion< B, T >

Constructor & Destructor Documentation

Member Function Documentation

template<ShBindingType B, typename T = float>
class SH::ShQuaternion< B, T >