Allink
v0.1
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Quaternion class. More...
#include <MatematicaQuadri.h>
Public Member Functions | |
Quadri () | |
An empty quaternion. | |
Quadri (double *Axis, double Angle) | |
A quaternion generated from an axis and an angle. | |
Quadri (double Ang1, double Ang2, double Ang3) | |
A quaternion generated form Euler's angle. | |
Quadri (double ww, double xx, double yy, double zz) | |
A quaternion generated specifying the basis. | |
double * | Axis () |
Print the component of the axis. | |
double | Norm () |
Norm of the quaternion. | |
double | NormInv (double *Vett) |
Inverse norm of a 3d-vector. | |
double | Sqr () |
Square of a quaternion. | |
double | Normalize () |
Normalize a quaternion. | |
double | Normalize (double *Vett) |
Normalize a vector. | |
double | Angle () |
Return the rotation angle. | |
void | Prod (Quadri q) |
Product between two quaternions. | |
Quadri | Prod (Quadri q, Quadri p) |
Product between two quaternions. | |
Quadri | GetConj () |
Give the conjugate. | |
void | Inv () |
Inverse. | |
void | Matrix4x4 (double *M) |
Create a 4x4 rotation matrix. | |
void | Matrix3x3 (double *M) |
Create a 3x3 rotation matrix. | |
void | RotMatrix (double *data, int dim) |
Alternative creation of a rotation matrix. | |
void | Basis (double a, double b, double c, double d, double *Matr) |
Boh. | |
void | Conj () |
Conjugate. | |
void | PrintMatrix (double *M) |
Print a rotation matrix. | |
Quadri | operator* (const Quadri &rq) const |
Scalar product with a quaternion. | |
double * | operator* (const double *Vet) const |
Scalar product with a vector. | |
Quadri | operator= (const Quadri &rq) const |
Equal operator. | |
Public Attributes | |
double | x |
First basis component. | |
double | y |
Second basis component. | |
double | z |
Third basis component. | |
double | w |
Forth basis component. | |
Quaternion class.
Definition at line 7 of file MatematicaQuadri.h.