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QuaternionAndTranslation Class Reference

`#include <geometry.h>`

## Public Member Functions

QuaternionAndTranslation (const Matrix4D &m)

QuaternionAndTranslation (const Matrix4D &m, const QuaternionAndTranslation &quat)

QuaternionAndTranslation operator- (void) const

QuaternionAndTranslation operator* (double scale) const

QuaternionAndTranslationoperator*= (double scale)

QuaternionAndTranslation operator/ (double scale) const

QuaternionAndTranslationoperator/= (double scale)

QuaternionAndTranslation operator+ (const QuaternionAndTranslation &q) const

QuaternionAndTranslationoperator+= (const QuaternionAndTranslation &q)

QuaternionAndTranslation operator- (const QuaternionAndTranslation &q) const

QuaternionAndTranslationoperator-= (const QuaternionAndTranslation &q)

## Public Attributes

Quaternion quaternion

Point3D translate

## Detailed Description

This class represents a transformation by a quaternion and a translation

## Constructor & Destructor Documentation

 QuaternionAndTranslation::QuaternionAndTranslation ( const Matrix4D & m )

This constructor sets the quaternion and translation vector from the transformation matrix

 QuaternionAndTranslation::QuaternionAndTranslation ( const Matrix4D & m, const QuaternionAndTranslation & quat )

Because the quaternion of a rotation is unique up to sign, the following method sets the quaternion so that it is closest to the input ones

## Member Function Documentation

 QuaternionAndTranslation QuaternionAndTranslation::operator* ( double scale ) const

This method scales the transformation parameters.

 QuaternionAndTranslation & QuaternionAndTranslation::operator*= ( double scale )

This method scales the current transformation parameters by a constant factor.

 QuaternionAndTranslation QuaternionAndTranslation::operator+ ( const QuaternionAndTranslation & q ) const

This method adds two sets of transformation parameters and returns their sum.

 QuaternionAndTranslation & QuaternionAndTranslation::operator+= ( const QuaternionAndTranslation & q )

This method adds a set of transformation parameters to the current transformation parameters.

 QuaternionAndTranslation QuaternionAndTranslation::operator- ( void ) const

This method returns the negative of the transformation parameters

 QuaternionAndTranslation QuaternionAndTranslation::operator- ( const QuaternionAndTranslation & q ) const

This method subtracts two sets of transformation parameters and returns their difference.

 QuaternionAndTranslation & QuaternionAndTranslation::operator-= ( const QuaternionAndTranslation & q )

This method subtracts a set of transformation parameters from the current transformation parameters.

 QuaternionAndTranslation QuaternionAndTranslation::operator/ ( double scale ) const

This method divides the coefficients of a the transformation parameters by a constant factor.

 QuaternionAndTranslation & QuaternionAndTranslation::operator/= ( double scale )

This method divides the coefficients of the current transformation parameters by a constant factor.

## Member Data Documentation

 Quaternion QuaternionAndTranslation::quaternion

The rotation

 Point3D QuaternionAndTranslation::translate

The translation vector

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