Create and play with a Quaternion.
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#include <alquaternion.h>
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| float | w |
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| float | x |
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| float | y |
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| float | z |
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Create and play with a Quaternion.
A Quaternion is just defined by w, x, y and z.
Definition at line 24 of file alquaternion.h.
| AL::Math::Quaternion::Quaternion |
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| ) |
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| AL::Math::Quaternion::Quaternion |
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float |
pW, |
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float |
pX, |
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float |
pY, |
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float |
pZ |
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) |
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Create a Quaternion initialize with explicit value.
![$ \left[\begin{array}{c} w \\ x \\ y \\ z \end{array}\right] = \left[\begin{array}{c} pW \\ pX \\ pY \\ pZ \end{array}\right]$](form_67.png)
- Parameters
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| pW | the float value for w |
| pX | the float value for x |
| pY | the float value for y |
| pZ | the float value for z |
| AL::Math::Quaternion::Quaternion |
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const std::vector< float > & |
pFloats | ) |
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Create a Quaternion with an std::vector.
![$ \left[\begin{array}{c} w \\ x \\ y \\ z \end{array}\right] = \left[\begin{array}{c} pFloats[0] \\ pFloats[1] \\ pFloats[2] \\ pFloats[3] \end{array}\right]$](form_68.png)
- Parameters
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| pFloats | An std::vector<float> of size 4 for respectively: w, x, y and z |
| static Quaternion AL::Math::Quaternion::fromAngleAndAxisRotation |
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const float |
pAngle, |
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const float |
pAxisX, |
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const float |
pAxisY, |
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const float |
pAxisZ |
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) |
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static |
Create a Quaternion initialized with explicit angle and axis rotation.
- Parameters
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| pAngle | the float value for angle in radian around axis rotation |
| pAxisX | the float value for x value of axis rotation |
| pAxisY | the float value for y value of axis rotation |
| pAxisZ | the float value for z value of axis rotation |
| Quaternion AL::Math::Quaternion::inverse |
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const |
| bool AL::Math::Quaternion::isNear |
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const Quaternion & |
pQua2, |
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const float & |
pEpsilon = 0.0001f |
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) |
| const |
Check if the actual Quaternion is near the one give in argument.
- Parameters
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| pQua2 | the second Quaternion |
| pEpsilon | an optionnal epsilon distance |
- Returns
- true if the distance between the two Quaternion is less than pEpsilon Check if |Qua1+Qua2| < epsilon or |Qua1-Qua2| < epsilon
| float AL::Math::Quaternion::norm |
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const |
| Quaternion AL::Math::Quaternion::normalize |
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const |
Normalize the actual Quaterion.
- Returns
- the Quaternion normalized
| bool AL::Math::Quaternion::operator!= |
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const Quaternion & |
pQua2 | ) |
const |
Overloading of operator != for Quaternion.
- Parameters
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| Quaternion AL::Math::Quaternion::operator* |
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float |
pVal | ) |
const |
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inline |
Overloading of operator *= for Quaternion.
- Parameters
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| Quaternion& AL::Math::Quaternion::operator*= |
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float |
pVal | ) |
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Overloading of operator *= for Quaternion.
- Parameters
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| Quaternion AL::Math::Quaternion::operator/ |
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float |
pVal | ) |
const |
Overloading of operator / for Quaternion.
- Parameters
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| Quaternion& AL::Math::Quaternion::operator/= |
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float |
pVal | ) |
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Overloading of operator /= for Quaternion.
- Parameters
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| bool AL::Math::Quaternion::operator== |
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const Quaternion & |
pQua2 | ) |
const |
Overloading of operator == for Quaternion.
- Parameters
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| void AL::Math::Quaternion::toVector |
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std::vector< float > & |
pReturnVector | ) |
const |
Return the Quaternion as a vector of float [w, x, y, z].
| std::vector<float> AL::Math::Quaternion::toVector |
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void |
| ) |
const |
| float AL::Math::Quaternion::w |
| float AL::Math::Quaternion::x |
| float AL::Math::Quaternion::y |
| float AL::Math::Quaternion::z |
The documentation for this struct was generated from the following file:
- /home/opennao/work/release-2.8/lib/libalmath/almath/types/alquaternion.h
![$ \left[\begin{array}{c} w \\ x \\ y \\ z \end{array}\right] = \left[\begin{array}{c} 0.0 \\ 0.0 \\ 0.0 \\ 0.0 \end{array}\right]$](form_66.png)
