BASE::RCQuaternion Class Reference

A quaternion to represent rotations. More...

Inherits BASE::RCStringValueInterface.

Inheritance diagram for BASE::RCQuaternion:

[legend]Collaboration diagram for BASE::RCQuaternion:

[legend]List of all members.

Public Member Functions
	RCQuaternion ()
	RCQuaternion (TReal nW, TReal nX, TReal nY, TReal nZ)
	RCQuaternion (const TReal *naSource)
	RCQuaternion (const RCMatrix &Source)
	RCQuaternion (TReal nPhi, TReal nTheta, TReal nPsi, TBool bInRad=true)
	RCQuaternion (const RCTriple &EulerAngles, TBool bInRad=true)
	RCQuaternion (const RCQuaternion &Source)
const RCQuaternion &	operator= (const RCQuaternion &Source)
const TReal *	Data () const
TReal &	operator[] (TInt nIndex)
const TReal &	operator[] (TInt nIndex) const
RCQuaternion	operator/ (TReal rhs) const
RCQuaternion	operator- () const
RCQuaternion	operator * (const RCQuaternion &rhs) const
const RCQuaternion &	operator *= (const RCQuaternion &rhs)
const RCQuaternion &	operator/= (TReal rhs)
void	Normalize ()
RCQuaternion	Normalized () const
TReal	Length () const
void	SetEulerAngles (TReal nPhi, TReal nTheta, TReal nPsi, TBool bInRad=true)
void	SetEulerAngles (const RCTriple &EulerAngles, TBool bInRad=true)
void	GetEulerAngles (TReal &nPhiRef, TReal &nThetaRef, TReal &nPsiRef, TBool bInRad=true) const
RCTriple	GetEulerAngles (TBool bInRad=true) const
TReal	GetHeading () const
virtual TBool	FromString (const RCString &sValue)
virtual const RCString &	ToString () const

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Detailed Description

A quaternion to represent rotations.

Author:

Patrik Stellmann

The values are stored in the order w, x, y, z.

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Constructor & Destructor Documentation

RCQuaternion::RCQuaternion (   )  [inline]

Creates an identity quaternion.

RCQuaternion::RCQuaternion (  TReal  nX, TReal  nY, TReal  nZ, TReal  nW )  [inline]

Creates a quaternion with the specified values.

RCQuaternion::RCQuaternion (  const TReal *  naSource  )  [inline, explicit]

Creates a quaternion from an array of 4 TReal values. They are required to be in the order x, y, z, w.

RCQuaternion::RCQuaternion (  const RCMatrix &  Source  )

Creates a quaternion representing the same rotation as the passed matrix. If the matrix is no rotation matrix the result is undefined. The 4th column and 4th row of the matrix are ignored.

RCQuaternion::RCQuaternion (  const RCQuaternion &  Source  )  [inline]

Creates a copy of the specified quaternion.

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Member Function Documentation

const TReal * RCQuaternion::Data (   )  const [inline]

Returns a constant pointer to the internal array of the values with the order x, y, z, w.

void RCQuaternion::GetEulerAngles (  TReal &  nPhiRef, TReal &  nThetaRef, TReal &  nPsiRef, TBool  bInRad = true )  const

Writes the spherical angles for the same rotation the quaternion refers to in the specified variables.

TReal RCQuaternion::Length (   )  const [inline]

Returns the lenght of the quaternion which is the euclid norm.

void RCQuaternion::Normalize (   )  [inline]

Normalizes the quaternion by deviding it by its length.

RCQuaternion RCQuaternion::Normalized (   )  const [inline]

Returns a normalized copy of this quaternion.

RCQuaternion RCQuaternion::operator- (   )  const [inline]

Negates all elements of the quaternion.

RCQuaternion RCQuaternion::operator/ (  TReal  rhs  )  const [inline]

Returns a quaternion equal to this one with all elements devided by the specified value. The value must be nonzero.

const RCQuaternion & RCQuaternion::operator/= (  TReal  rhs  )  [inline]

Devides all elements of the quaternion by the specified value. The value must be nonzero.

const RCQuaternion & RCQuaternion::operator= (  const RCQuaternion &  Source  )  [inline]

Assigns the specified quaterion to this one.

const TReal & RCQuaternion::operator[] (  TInt  nIndex  )  const [inline]

Returns the nIndex'th element of the quaternion while the oder is x, y, z, w. An index greater 3 is invalid.

TReal & RCQuaternion::operator[] (  TInt  nIndex  )  [inline]

Returns the nIndex'th element of the quaternion while the oder is x, y, z, w. An index greater 3 is invalid.

void RCQuaternion::SetEulerAngles (  TReal  nPhi, TReal  nTheta, TReal  nPsi, TBool  bInRad = true )

Sets the quaternion to represent the rotation of the specified spheric angles.

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

• base.hpp
• quaternion.cpp

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