vctQuaternionBase< _containerType > Class Template Reference

Define a quaternion container. More...

#include <vctForwardDeclarations.h>

Inheritance diagram for vctQuaternionBase< _containerType >:

Public Types
enum	{ SIZE = 4 }
typedef _containerType	BaseType
typedef _containerType	ContainerType
typedef vctQuaternionBase < _containerType >	ThisType
typedef cmnTypeTraits< value_type >	TypeTraits

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
	vctQuaternionBase (void)
	vctQuaternionBase (const value_type &x, const value_type &y, const value_type &z, const value_type &r)
const_reference	R (void) const
reference	R (void)
template<class __containerTypeOther >
ThisType &	ConjugateOf (const vctQuaternionBase< __containerTypeOther > &otherQuaternion)
ThisType &	ConjugateSelf (void)
ThisType	Conjugate (void) const
template<class __containerType1 , class __containerType2 >
ThisType &	ProductOf (const vctQuaternionBase< __containerType1 > &quat1, const vctQuaternionBase< __containerType2 > &quat2)
template<class __containerType1 , class __containerType2 >
ThisType &	QuotientOf (const vctQuaternionBase< __containerType1 > &quat1, const vctQuaternionBase< __containerType2 > &quat2)
template<class __containerTypeOther >
ThisType &	PostMultiply (const vctQuaternionBase< __containerTypeOther > &other)
template<class __containerTypeOther >
ThisType &	PreMultiply (const vctQuaternionBase< __containerTypeOther > &other)
template<class __containerTypeOther >
ThisType &	Divide (const vctQuaternionBase< __containerTypeOther > &other)
ThisType &	Divide (const value_type s)

Protected Member Functions
void	Allocate (void)
template<>
void	Allocate (void)
template<>
void	Allocate (void)

Detailed Description

template<class _containerType>
class vctQuaternionBase< _containerType >

Define a quaternion container.

It is important to note that the class vctQuaternion is for any quaternion, i.e. it does not necessary represent a unit quaternion.

Parameters

_baseType

The base class used to contain the 4 elements.

See Also

vctFixedSizeVector, vctDynamicVector

Member Typedef Documentation

template<class _containerType>

typedef _containerType vctQuaternionBase< _containerType >::BaseType

template<class _containerType>

typedef _containerType vctQuaternionBase< _containerType >::ContainerType

template<class _containerType>

typedef vctQuaternionBase<_containerType> vctQuaternionBase< _containerType >::ThisType

template<class _containerType>

typedef cmnTypeTraits<value_type> vctQuaternionBase< _containerType >::TypeTraits

Member Enumeration Documentation

template<class _containerType>

anonymous enum

Enumerator
SIZE

Constructor & Destructor Documentation

template<class _containerType>

vctQuaternionBase< _containerType >::vctQuaternionBase ( void  )

inline

Default constructor. Does nothing.

template<class _containerType>

vctQuaternionBase< _containerType >::vctQuaternionBase ( const value_type &  x, const value_type &  y, const value_type &  z, const value_type &  r  )

inline

Constructor from 4 elements.

Parameters

x	The first imaginary component
y	The second imaginary component
z	The third imaginary component
r	The real component

Member Function Documentation

template<class _containerType>

void vctQuaternionBase< _containerType >::Allocate ( void  )

inlineprotected

Allocate memory for the underlying container if needed. By default, this methods does nothing. For any container requiring a memory allocation, it is necessary to specialize this method.

template<>

void vctQuaternionBase< vctDynamicVector< double > >::Allocate ( void   )

inlineprotected

template<>

void vctQuaternionBase< vctDynamicVector< float > >::Allocate ( void   )

inlineprotected

template<class _containerType>

ThisType vctQuaternionBase< _containerType >::Conjugate ( void  ) const

inline

Returns the conjugate of this quaternion. This method returns a copy of the conjugate and does not modify this quaternion.

template<class _containerType>

template<class __containerTypeOther >

ThisType& vctQuaternionBase< _containerType >::ConjugateOf ( const vctQuaternionBase< __containerTypeOther > &  otherQuaternion )

inline

Sets this quaternion as the conjugate of another one.

Parameters

otherQuaternion

Quaternion used to compute the conjugate.

template<class _containerType>

ThisType& vctQuaternionBase< _containerType >::ConjugateSelf ( void  )

inline

Replaces this quaternion by its conjugate.

template<class _containerType>

template<class __containerTypeOther >

ThisType& vctQuaternionBase< _containerType >::Divide ( const vctQuaternionBase< __containerTypeOther > &  other )

inline

Divide this quaternion by another, i.e., this = this / other.

template<class _containerType>

ThisType& vctQuaternionBase< _containerType >::Divide ( const value_type  s )

inline

Divide this quaternion by a scalar: equal to elementwise division. The method re-implements vector elementwise division, which is otherwise shadowed by the Divide(ThisType) method.

template<class _containerType>

template<class __containerTypeOther >

ThisType& vctQuaternionBase< _containerType >::PostMultiply ( const vctQuaternionBase< __containerTypeOther > &  other )

inline

Post-multiply this quaternion by another, i.e., this = this * other.

Note

Quaternion product is non-commutative.

template<class _containerType>

template<class __containerTypeOther >

ThisType& vctQuaternionBase< _containerType >::PreMultiply ( const vctQuaternionBase< __containerTypeOther > &  other )

inline

Pre-multiply this quaternion by another, i.e., this = other * this.

Note

Quaternion product is non-commutative.

template<class _containerType>

template<class __containerType1 , class __containerType2 >

ThisType& vctQuaternionBase< _containerType >::ProductOf ( const vctQuaternionBase< __containerType1 > &  quat1, const vctQuaternionBase< __containerType2 > &  quat2  )

inline

Set this quaternion as the product of two other ones.

Parameters

quat1	Left operand
quat2	Right operand

Note

Quaternion product in non-commutative.

template<class _containerType>

template<class __containerType1 , class __containerType2 >

ThisType& vctQuaternionBase< _containerType >::QuotientOf ( const vctQuaternionBase< __containerType1 > &  quat1, const vctQuaternionBase< __containerType2 > &  quat2  )

inline

Compute the quotient quat1 / quat2. The reciprocal of a quaternion q is conj(q) / norm(q)

template<class _containerType>

const_reference vctQuaternionBase< _containerType >::R ( void  ) const

inline

Returns the last element of the quaternion, i.e. the real part. This method is const. The methods X(), Y() and Z() are inherited from the base class.

template<class _containerType>

reference vctQuaternionBase< _containerType >::R ( void  )

inline

Access the last element of the quaternion, i.e. the real part. This method is not const. The methods X(), Y() and Z() are inherited from the base class.

template<class _containerType>

vctQuaternionBase< _containerType >::VCT_CONTAINER_TRAITS_TYPEDEFS

(

typename ContainerType::value_type

)

---

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctForwardDeclarations.h
• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstVector/vctQuaternionBase.h