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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: