#include <Quaternion.h>

Inheritance diagram for QuaternionBase< Derived >:

Public Types
typedef internal::traits < Derived >::Scalar	Scalar
typedef NumTraits< Scalar >::Real	RealScalar
typedef internal::traits < Derived >::Coefficients	Coefficients
typedef Matrix< Scalar, 3, 1 >	Vector3
typedef Matrix< Scalar, 3, 3 >	Matrix3
typedef AngleAxis< Scalar >	AngleAxisType
Public Member Functions
Scalar	x () const
Scalar	y () const
Scalar	z () const
Scalar	w () const
Scalar &	x ()
Scalar &	y ()
Scalar &	z ()
Scalar &	w ()
const VectorBlock< const Coefficients, 3 >	vec () const
VectorBlock< Coefficients, 3 >	vec ()
const internal::traits < Derived >::Coefficients &	coeffs () const
internal::traits< Derived > ::Coefficients &	coeffs ()
EIGEN_STRONG_INLINE QuaternionBase< Derived > &	operator= (const QuaternionBase< Derived > &other)
template<class OtherDerived >
EIGEN_STRONG_INLINE Derived &	operator= (const QuaternionBase< OtherDerived > &other)
Derived &	operator= (const AngleAxisType &aa)
template<class OtherDerived >
Derived &	operator= (const MatrixBase< OtherDerived > &m)
QuaternionBase &	setIdentity ()
Scalar	squaredNorm () const
Scalar	norm () const
void	normalize ()
Quaternion< Scalar >	normalized () const
template<class OtherDerived >
Scalar	dot (const QuaternionBase< OtherDerived > &other) const
template<class OtherDerived >
Scalar	angularDistance (const QuaternionBase< OtherDerived > &other) const
Matrix3	toRotationMatrix () const
template<typename Derived1 , typename Derived2 >
Derived &	setFromTwoVectors (const MatrixBase< Derived1 > &a, const MatrixBase< Derived2 > &b)
template<class OtherDerived >
EIGEN_STRONG_INLINE Quaternion < Scalar >	operator* (const QuaternionBase< OtherDerived > &q) const
template<class OtherDerived >
EIGEN_STRONG_INLINE Derived &	operator*= (const QuaternionBase< OtherDerived > &q)
Quaternion< Scalar >	inverse () const
Quaternion< Scalar >	conjugate () const
template<class OtherDerived >
Quaternion< Scalar >	slerp (Scalar t, const QuaternionBase< OtherDerived > &other) const
template<class OtherDerived >
bool	isApprox (const QuaternionBase< OtherDerived > &other, RealScalar prec=NumTraits< Scalar >::dummy_precision()) const
EIGEN_STRONG_INLINE Vector3	_transformVector (Vector3 v) const
template<typename NewScalarType >
internal::cast_return_type < Derived, Quaternion < NewScalarType > >::type	cast () const
template<class MatrixDerived >
Derived &	operator= (const MatrixBase< MatrixDerived > &xpr)
Static Public Member Functions
static Quaternion< Scalar >	Identity ()

template<class Derived>
class QuaternionBase< Derived >

Member Typedef Documentation

template<class Derived>

typedef AngleAxis<Scalar> QuaternionBase< Derived >::AngleAxisType

the equivalent angle-axis type

template<class Derived>

typedef internal::traits<Derived>::Coefficients QuaternionBase< Derived >::Coefficients

Reimplemented in Map< const Quaternion< _Scalar >, PacketAccess >, and Map< Quaternion< _Scalar >, PacketAccess >.

template<class Derived>

typedef Matrix<Scalar,3,3> QuaternionBase< Derived >::Matrix3

the equivalent rotation matrix type

template<class Derived>

typedef NumTraits<Scalar>::Real QuaternionBase< Derived >::RealScalar

template<class Derived>

typedef internal::traits<Derived>::Scalar QuaternionBase< Derived >::Scalar

the scalar type of the coefficients

Reimplemented from RotationBase< Derived, 3 >.

Reimplemented in Map< const Quaternion< _Scalar >, PacketAccess >, and Map< Quaternion< _Scalar >, PacketAccess >.

template<class Derived>

typedef Matrix<Scalar,3,1> QuaternionBase< Derived >::Vector3

the type of a 3D vector

Member Function Documentation

template<class Derived >

EIGEN_STRONG_INLINE QuaternionBase< Derived >::Vector3 QuaternionBase< Derived >::_transformVector ( Vector3 v ) const

return the result vector of v through the rotation

Rotation of a vector by a quaternion.

Remarks:

If the quaternion is used to rotate several points (>1) then it is much more efficient to first convert it to a 3x3 Matrix. Comparison of the operation cost for n transformations:

Quaternion2: 30n
Via a Matrix3: 24 + 15n

template<class Derived >

template<class OtherDerived >

internal::traits< Derived >::Scalar QuaternionBase< Derived >::angularDistance ( const QuaternionBase< OtherDerived > & other ) const [inline]

Returns:: the angle (in radian) between two rotations

See also:: dot()

template<class Derived>

template<typename NewScalarType >

internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type QuaternionBase< Derived >::cast ( ) const [inline]

Returns:: *this with scalar type casted to NewScalarType

Note that if NewScalarType is equal to the current scalar type of *this then this function smartly returns a const reference to *this.

template<class Derived>

const internal::traits<Derived>::Coefficients& QuaternionBase< Derived >::coeffs ( ) const [inline]

Returns:: a read-only vector expression of the coefficients (x,y,z,w)

Reimplemented in Map< const Quaternion< _Scalar >, PacketAccess >, and Map< Quaternion< _Scalar >, PacketAccess >.

template<class Derived>

internal::traits<Derived>::Coefficients& QuaternionBase< Derived >::coeffs ( ) [inline]

Returns:: a vector expression of the coefficients (x,y,z,w)

Reimplemented in Map< Quaternion< _Scalar >, PacketAccess >.

template<class Derived >

Quaternion< typename internal::traits< Derived >::Scalar > QuaternionBase< Derived >::conjugate ( void ) const [inline]

Returns:: the conjugated quaternion; the conjugate of the *this which is equal to the multiplicative inverse if the quaternion is normalized. The conjugate of a quaternion represents the opposite rotation.

See also:: Quaternion2::inverse()

template<class Derived>

template<class OtherDerived >

Scalar QuaternionBase< Derived >::dot ( const QuaternionBase< OtherDerived > & other ) const [inline]

Returns:: the dot product of *this and other Geometrically speaking, the dot product of two unit quaternions corresponds to the cosine of half the angle between the two rotations.

See also:: angularDistance()

template<class Derived>

static Quaternion<Scalar> QuaternionBase< Derived >::Identity ( ) [inline, static]

Returns:: a quaternion representing an identity rotation

See also:: MatrixBase::Identity()

template<class Derived >

Quaternion< typename internal::traits< Derived >::Scalar > QuaternionBase< Derived >::inverse ( void ) const [inline]

Returns:: the quaternion describing the inverse rotation; the multiplicative inverse of *this Note that in most cases, i.e., if you simply want the opposite rotation, and/or the quaternion is normalized, then it is enough to use the conjugate.

See also:: QuaternionBase::conjugate()

Reimplemented from RotationBase< Derived, 3 >.

template<class Derived>

template<class OtherDerived >

bool QuaternionBase< Derived >::isApprox	(	const QuaternionBase< OtherDerived > &	other,
		RealScalar	prec = `NumTraits<Scalar>::dummy_precision()`
	)			const `[inline]`

Returns:: true if *this is approximately equal to other, within the precision determined by prec.

See also:: MatrixBase::isApprox()

template<class Derived>

Scalar QuaternionBase< Derived >::norm ( ) const [inline]

Returns:: the norm of the quaternion's coefficients

See also:: QuaternionBase::squaredNorm(), MatrixBase::norm()

template<class Derived>

void QuaternionBase< Derived >::normalize ( void ) [inline]

Normalizes the quaternion *this

See also:: normalized(), MatrixBase::normalize()

template<class Derived>

Quaternion<Scalar> QuaternionBase< Derived >::normalized ( ) const [inline]

Returns:: a normalized copy of *this

See also:: normalize(), MatrixBase::normalized()

template<class Derived >

template<class OtherDerived >

EIGEN_STRONG_INLINE Quaternion< typename internal::traits< Derived >::Scalar > QuaternionBase< Derived >::operator* ( const QuaternionBase< OtherDerived > & other ) const

Returns:: the concatenation of two rotations as a quaternion-quaternion product

template<class Derived >

template<class OtherDerived >

EIGEN_STRONG_INLINE Derived & QuaternionBase< Derived >::operator*= ( const QuaternionBase< OtherDerived > & other )

See also:: operator*(Quaternion)

template<class Derived>

template<class OtherDerived >

Derived& QuaternionBase< Derived >::operator= ( const MatrixBase< OtherDerived > & m )

template<class Derived>

template<class MatrixDerived >

Derived& QuaternionBase< Derived >::operator= ( const MatrixBase< MatrixDerived > & xpr ) [inline]

Set *this from the expression xpr:

if xpr is a 4x1 vector, then xpr is assumed to be a quaternion
if xpr is a 3x3 matrix, then xpr is assumed to be rotation matrix and xpr is converted to a quaternion

template<class Derived>

EIGEN_STRONG_INLINE QuaternionBase< Derived > & QuaternionBase< Derived >::operator= ( const QuaternionBase< Derived > & other )

template<class Derived >

template<class OtherDerived >

EIGEN_STRONG_INLINE Derived & QuaternionBase< Derived >::operator= ( const QuaternionBase< OtherDerived > & other )

template<class Derived>

EIGEN_STRONG_INLINE Derived & QuaternionBase< Derived >::operator= ( const AngleAxisType & aa )

Set *this from an angle-axis aa and returns a reference to *this

template<class Derived >

template<typename Derived1 , typename Derived2 >

Derived & QuaternionBase< Derived >::setFromTwoVectors	(	const MatrixBase< Derived1 > &	a,
		const MatrixBase< Derived2 > &	b
	)			`[inline]`

Returns:: the quaternion which transform a into b through a rotation

Sets *this to be a quaternion representing a rotation between the two arbitrary vectors a and b. In other words, the built rotation represent a rotation sending the line of direction a to the line of direction b, both lines passing through the origin.

Returns:: a reference to *this.

Note that the two input vectors do not have to be normalized, and do not need to have the same norm.

template<class Derived>

QuaternionBase& QuaternionBase< Derived >::setIdentity ( ) [inline]

See also:: QuaternionBase::Identity(), MatrixBase::setIdentity()

template<class Derived >

template<class OtherDerived >

Quaternion< typename internal::traits< Derived >::Scalar > QuaternionBase< Derived >::slerp	(	Scalar	t,
		const QuaternionBase< OtherDerived > &	other
	)			const

Returns:: an interpolation for a constant motion between other and *this t in [0;1] see http://en.wikipedia.org/wiki/Slerp; the spherical linear interpolation between the two quaternions *this and other at the parameter t

template<class Derived>

Scalar QuaternionBase< Derived >::squaredNorm ( ) const [inline]

Returns:: the squared norm of the quaternion's coefficients

See also:: QuaternionBase::norm(), MatrixBase::squaredNorm()

template<class Derived >

QuaternionBase< Derived >::Matrix3 QuaternionBase< Derived >::toRotationMatrix ( void ) const [inline]

Returns:: an equivalent 3x3 rotation matrix

Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to be normalized, otherwise the result is undefined.

Reimplemented from RotationBase< Derived, 3 >.

template<class Derived>

const VectorBlock<const Coefficients,3> QuaternionBase< Derived >::vec ( ) const [inline]

Returns:: a read-only vector expression of the imaginary part (x,y,z)

template<class Derived>

VectorBlock<Coefficients,3> QuaternionBase< Derived >::vec ( ) [inline]

Returns:: a vector expression of the imaginary part (x,y,z)

template<class Derived>

Scalar& QuaternionBase< Derived >::w ( ) [inline]

Returns:: a reference to the w coefficient

template<class Derived>

Scalar QuaternionBase< Derived >::w ( ) const [inline]

Returns:: the w coefficient

template<class Derived>

Scalar QuaternionBase< Derived >::x ( ) const [inline]

Returns:: the x coefficient

template<class Derived>

Scalar& QuaternionBase< Derived >::x ( ) [inline]

Returns:: a reference to the x coefficient

template<class Derived>

Scalar QuaternionBase< Derived >::y ( ) const [inline]

Returns:: the y coefficient

template<class Derived>

Scalar& QuaternionBase< Derived >::y ( ) [inline]

Returns:: a reference to the y coefficient

template<class Derived>

Scalar QuaternionBase< Derived >::z ( ) const [inline]

Returns:: the z coefficient

template<class Derived>

Scalar& QuaternionBase< Derived >::z ( ) [inline]

Returns:: a reference to the z coefficient

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

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/geometry/Eigen/src/Geometry/Quaternion.h

QuaternionBase< Derived > Class Template Reference

Public Types

Public Member Functions

Static Public Member Functions

template<class Derived> class QuaternionBase< Derived >

Member Typedef Documentation

Member Function Documentation

template<class Derived>
class QuaternionBase< Derived >