Quaternion Class Reference

#include <north_star/distortion/utility_northstar.h>

Public Member Functions
	Quaternion ()
	Quaternion (float _x, float _y, float _z, float _w)
	Quaternion (const Quaternion &_in)
constexpr Quaternion &	operator= (const Quaternion &lhr)
Quaternion	conjugate ()
float	norm ()
Quaternion	scale (float s)
Quaternion	Inverse ()
Vector3	Right ()
Vector3	Up ()
Vector3	Forward ()
Vector3	operator* (Vector3 vec)
Matrix4x4	ToMatrix4x4 ()
Quaternion	operator* (const Quaternion &q)
Quaternion	operator/ (const float div)
float	SIGN (float x)
float	NORM (float a, float b, float c, float d)

Static Public Member Functions
static Quaternion	Identity ()
static void	ToEulerAngle (const Quaternion &q, float &roll, float &pitch, float &yaw)
static Vector3	ToEulerAngles (const Quaternion &in)
static Quaternion	Euler (const Vector3 &euler)
static Quaternion	AxisAngle (Vector3 axis, float angle)
static Quaternion	LookAt (Vector3 sourcePoint, Vector3 destPoint)
static Quaternion	QuaternionLookRotation (Vector3 forward, Vector3 Up)
static Quaternion	FromMatrix (const Matrix4x4 m)
static Quaternion	FromToRotation (Vector3 dir0, Vector3 dir1)

Data Fields
float	x
float	y
float	z
float	w

Constructor & Destructor Documentation

Quaternion() [1/3]

Quaternion::Quaternion ( )

inline

Quaternion() [2/3]

Quaternion::Quaternion ( float  _x, float  _y, float  _z, float  _w  )

inline

Quaternion() [3/3]

Quaternion::Quaternion ( const Quaternion &  _in )

inline

References w, x, y, and z.

Member Function Documentation

AxisAngle()

static Quaternion Quaternion::AxisAngle ( Vector3  axis, float  angle  )

inlinestatic

References w, Vector3::x, x, Vector3::y, y, Vector3::z, and z.

Referenced by FromToRotation().

conjugate()

Quaternion Quaternion::conjugate ( )

inline

Euler()

static Quaternion Quaternion::Euler ( const Vector3 &  euler )

inlinestatic

References w, Vector3::x, x, Vector3::y, y, Vector3::z, and z.

Forward()

Vector3 Quaternion::Forward ( )

inline

References Vector3::Forward().

FromMatrix()

static Quaternion Quaternion::FromMatrix ( const Matrix4x4  m )

inlinestatic

References Matrix4x4::m00, Matrix4x4::m01, Matrix4x4::m02, Matrix4x4::m10, Matrix4x4::m11, Matrix4x4::m12, Matrix4x4::m20, Matrix4x4::m21, and Matrix4x4::m22.

Referenced by Pose::FromMatrix().

FromToRotation()

static Quaternion Quaternion::FromToRotation ( Vector3  dir0, Vector3  dir1  )

inlinestatic

References Vector3::Angle(), AxisAngle(), Vector3::Cross(), and Vector3::Normalized().

Identity()

static Quaternion Quaternion::Identity ( )

inlinestatic

Referenced by Pose::Identity(), and Pose::Pose().

Inverse()

Quaternion Quaternion::Inverse ( )

inline

Referenced by Pose::Inverse().

LookAt()

static Quaternion Quaternion::LookAt ( Vector3  sourcePoint, Vector3  destPoint  )

inlinestatic

References Vector3::Cross(), Vector3::Dot(), Vector3::Forward(), Vector3::Normalized(), and Vector3::Up().

norm()

float Quaternion::norm ( )

inline

NORM()

float Quaternion::NORM ( float  a, float  b, float  c, float  d  )

inline

operator*() [1/2]

Vector3 Quaternion::operator* ( Vector3  vec )

inline

References Vector3::x, Vector3::y, and Vector3::z.

operator*() [2/2]

Quaternion Quaternion::operator* ( const Quaternion &  q )

inline

References w, x, y, and z.

operator/()

Quaternion Quaternion::operator/ ( const float  div )

inline

operator=()

constexpr Quaternion& Quaternion::operator= ( const Quaternion &  lhr )

inline

References w, x, y, and z.

QuaternionLookRotation()

static Quaternion Quaternion::QuaternionLookRotation ( Vector3  forward, Vector3  Up  )

inlinestatic

References Vector3::Cross(), Vector3::Normalized(), w, Vector3::x, x, Vector3::y, y, Vector3::z, and z.

Right()

Vector3 Quaternion::Right ( )

inline

References Vector3::Right().

scale()

Quaternion Quaternion::scale ( float  s )

inline

SIGN()

float Quaternion::SIGN ( float  x )

inline

ToEulerAngle()

static void Quaternion::ToEulerAngle ( const Quaternion &  q, float &  roll, float &  pitch, float &  yaw  )

inlinestatic

References LP_PI, w, x, y, and z.

ToEulerAngles()

static Vector3 Quaternion::ToEulerAngles ( const Quaternion &  in )

inlinestatic

References LP_PI, w, Vector3::x, x, Vector3::y, y, Vector3::z, and z.

ToMatrix4x4()

Matrix4x4 Quaternion::ToMatrix4x4 ( )

inline

Referenced by Pose::Matrix().

Up()

Vector3 Quaternion::Up ( )

inline

References Vector3::Up().

Field Documentation

w

float Quaternion::w

Referenced by AxisAngle(), Euler(), operator*(), operator=(), Quaternion(), QuaternionLookRotation(), ToEulerAngle(), and ToEulerAngles().

x

float Quaternion::x

Referenced by AxisAngle(), Euler(), operator*(), operator=(), Quaternion(), QuaternionLookRotation(), ToEulerAngle(), and ToEulerAngles().

y

float Quaternion::y

Referenced by AxisAngle(), Euler(), operator*(), operator=(), Quaternion(), QuaternionLookRotation(), ToEulerAngle(), and ToEulerAngles().

z

float Quaternion::z

Referenced by AxisAngle(), Euler(), operator*(), operator=(), Quaternion(), QuaternionLookRotation(), ToEulerAngle(), and ToEulerAngles().

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

• drivers/north_star/distortion/utility_northstar.h