Define a quaternion container. More...

#include <vctQuaternion.h>

Inheritance diagram for vctQuaternion< _elementType >:

Public Types
enum	{ SIZE = 4 }
typedef vctQuaternion< value_type >	ThisType
typedef vctFixedSizeVector< value_type, SIZE >	ContainerType
typedef vctQuaternionBase< ContainerType >	BaseType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctQuaternionBase< vctFixedSizeVector< _elementType, 4 > >
enum
typedef vctFixedSizeVector< _elementType, 4 >	BaseType
typedef vctFixedSizeVector< _elementType, 4 >	ContainerType
typedef vctQuaternionBase< vctFixedSizeVector< _elementType, 4 > >	ThisType
typedef cmnTypeTraits< value_type >	TypeTraits
Public Types inherited from vctFixedSizeVector< _elementType, 4 >
enum
typedef vctFixedSizeVectorTraits< _elementType, _size, 1 >	VectorTraits
typedef vctFixedSizeVector< value_type, _size >	ThisType
typedef vctFixedSizeVectorBase< _size, 1, _elementType, typename VectorTraits::array >	BaseType
typedef BaseType::CopyType	CopyType
typedef class cmnTypeTraits< value_type >	TypeTraits
typedef TypeTraits::VaArgPromotion	ElementVaArgPromotion
Public Types inherited from vctFixedSizeVectorBase< _size, 1, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >
enum
enum
enum
typedef vctFixedSizeVectorTraits< _elementType, _size, _stride >	VectorTraits
typedef vctFixedSizeVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >	ThisType
typedef vctFixedSizeConstVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >	BaseType
typedef BaseType::CopyType	CopyType
typedef cmnTypeTraits< value_type >	TypeTraits
typedef VectorTraits::iterator	iterator
typedef VectorTraits::const_iterator	const_iterator
typedef VectorTraits::reverse_iterator	reverse_iterator
typedef VectorTraits::const_reverse_iterator	const_reverse_iterator
typedef BaseType::RowConstMatrixRefType	RowConstMatrixRefType
typedef BaseType::RowMatrixRefType	RowMatrixRefType
typedef BaseType::ColConstMatrixRefType	ColConstMatrixRefType
typedef BaseType::ColMatrixRefType	ColMatrixRefType
Public Types inherited from vctFixedSizeConstVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >
enum
enum
typedef vctFixedSizeConstVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >	ThisType
typedef vctFixedSizeVectorTraits< _elementType, _size, _stride >	VectorTraits
typedef VectorTraits::iterator	iterator
typedef VectorTraits::const_iterator	const_iterator
typedef VectorTraits::reverse_iterator	reverse_iterator
typedef VectorTraits::const_reverse_iterator	const_reverse_iterator
typedef vctFixedSizeConstMatrixRef< _elementType, 1, _size, _stride *_size, _stride >	RowConstMatrixRefType
typedef vctFixedSizeMatrixRef< _elementType, 1, _size, _stride *_size, _stride >	RowMatrixRefType
typedef vctFixedSizeConstMatrixRef< _elementType, _size, 1, _stride, _stride *_size >	ColConstMatrixRefType
typedef vctFixedSizeMatrixRef< _elementType, _size, 1, _stride, _stride *_size >	ColMatrixRefType
typedef vctFixedSizeVector< _elementType, _size >	VectorValueType
typedef vctFixedSizeVector< _elementType, _size >	CopyType
typedef vctFixedSizeVector< bool, _size >	BoolVectorValueType

Public Member Functions
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	vctQuaternion ()
	vctQuaternion (const value_type &x, const value_type &y, const value_type &z, const value_type &r)
Public Member Functions inherited from vctQuaternionBase< vctFixedSizeVector< _elementType, 4 > >
	VCT_CONTAINER_TRAITS_TYPEDEFS (typename ContainerType::value_type)
	vctQuaternionBase (void)
const_reference	R (void) const
ThisType &	ConjugateOf (const vctQuaternionBase< __containerTypeOther > &otherQuaternion)
ThisType &	ConjugateSelf (void)
ThisType	Conjugate (void) const
ThisType &	ProductOf (const vctQuaternionBase< __containerType1 > &quat1, const vctQuaternionBase< __containerType2 > &quat2)
ThisType &	QuotientOf (const vctQuaternionBase< __containerType1 > &quat1, const vctQuaternionBase< __containerType2 > &quat2)
ThisType &	PostMultiply (const vctQuaternionBase< __containerTypeOther > &other)
ThisType &	PreMultiply (const vctQuaternionBase< __containerTypeOther > &other)
ThisType &	Divide (const vctQuaternionBase< __containerTypeOther > &other)
Public Member Functions inherited from vctFixedSizeVector< _elementType, 4 >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
	vctFixedSizeVector ()
ThisType &	operator= (const ThisType &other)
bool	FromStreamRaw (std::istream &inputStream, const char delimiter=' ')
void	DeSerializeRaw (std::istream &inputStream)
Public Member Functions inherited from vctFixedSizeVectorBase< _size, 1, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
iterator	begin (void)
iterator	end (void)
reverse_iterator	rbegin (void)
reverse_iterator	rend (void)
reference	operator[] (size_type index)
reference	at (size_type index) CISST_THROW(std
reference	operator() (size_type index) CISST_THROW(std
reference	Element (size_type index)
pointer	Pointer (size_type index=0)
value_type	SetAll (const value_type &value)
bool	Zeros (void)
ThisType &	Assign (const vctFixedSizeConstVectorBase< _size, __stride, __elementType, __dataPtrType > &other)
ThisType &	operator= (const vctFixedSizeConstVectorBase< _size, __stride, __elementType, __dataPtrType > &other)
ThisType &	ForceAssign (const vctFixedSizeConstVectorBase< _size, __stride, __elementType, __dataPtrType > &other)
bool	FastCopyOf (const vctDynamicConstVectorBase< __vectorOwnerType, value_type > &source, bool performSafetyChecks=true) CISST_THROW(std
ThisType &	ConcatenationOf (const vctFixedSizeConstVectorBase< SIZEMINUSONE, __stride, __elementTypeVector, __dataPtrType > &other, __elementType last)
value_type &	X (void)
value_type &	Y (void)
value_type &	Z (void)
value_type &	W (void)
vctFixedSizeVectorRef< _elementType, 2, _stride >	XY (void)
vctFixedSizeVectorRef< _elementType, 2, 2 *_stride >	XZ (void)
vctFixedSizeVectorRef< _elementType, 2, 3 *_stride >	XW (void)
vctFixedSizeVectorRef< _elementType, 2, _stride >	YZ (void)
vctFixedSizeVectorRef< _elementType, 2, 2 *_stride >	YW (void)
vctFixedSizeVectorRef< _elementType, 2, _stride >	ZW (void)
vctFixedSizeVectorRef< _elementType, 3, _stride >	XYZ (void)
vctFixedSizeVectorRef< _elementType, 3, _stride >	YZW (void)
vctFixedSizeVectorRef< _elementType, 4, _stride >	XYZW (void)
RowConstMatrixRefType	AsRowMatrix (void) const
ColConstMatrixRefType	AsColMatrix (void) const
vctFixedSizeConstVectorRef< _elementType, __subSize, _stride >	Ref (const size_type startPosition=0) const CISST_THROW(std
void	SelectFrom (const vctFixedSizeConstVectorBase< __inputSize, __inputStride, _elementType, __inputDataPtrType > &input, const vctFixedSizeConstVectorBase< _size, __indexStride, index_type, __indexDataPtrType > &index)
void	CrossProductOf (const vctFixedSizeConstVectorBase< 3, __stride1, _elementType, __dataPtr1Type > &inputVector1, const vctFixedSizeConstVectorBase< 3, __stride2, _elementType, __dataPtr2Type > &inputVector2)
ThisType &	SumOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	DifferenceOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	ElementwiseProductOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	ElementwiseRatioOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	ElementwiseMinOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	ElementwiseMaxOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	Add (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	Subtract (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	ElementwiseMultiply (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	ElementwiseDivide (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	ElementwiseMin (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	ElementwiseMax (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	operator+= (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	operator-= (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	SwapElementsWith (vctFixedSizeVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	ProductOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &vector, const value_type scalar)
ThisType &	RatioOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &vector, const value_type scalar)
ThisType &	ClippedAboveOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &vector, const value_type upperBound)
ThisType &	ClippedBelowOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &vector, const value_type lowerBound)
ThisType &	Multiply (const value_type scalar)
ThisType &	Divide (const value_type scalar)
ThisType &	ClipAbove (const value_type upperBound)
ThisType &	ClipBelow (const value_type lowerBound)
ThisType &	operator*= (const value_type scalar)
ThisType &	operator/= (const value_type scalar)
ThisType &	AddProductOf (const value_type scalar, const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	AddElementwiseProductOf (const vctFixedSizeConstVectorBase< _size, __stride1, value_type, __dataPtrType1 > &vector1, const vctFixedSizeConstVectorBase< _size, __stride2, value_type, __dataPtrType2 > &vector2)
ThisType &	AbsOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	NegationOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	FloorOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	CeilOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector)
ThisType &	NormalizedOf (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) CISST_THROW(std
ThisType &	AbsSelf (void)
ThisType &	NegationSelf (void)
ThisType &	FloorSelf (void)
ThisType &	CeilSelf (void)
ThisType &	NormalizedSelf (void) CISST_THROW(std
Public Member Functions inherited from vctFixedSizeConstVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >
	VCT_CONTAINER_TRAITS_TYPEDEFS (_elementType)
const_iterator	begin (void) const
const_iterator	end (void) const
const_reverse_iterator	rbegin (void) const
const_reverse_iterator	rend (void) const
size_type	size (void) const
size_type	max_size (void) const
difference_type	stride (void) const
bool	empty (void) const
const_reference	operator[] (size_type index) const
const_reference	at (size_type index) const CISST_THROW(std
const_reference	operator() (size_type index) const CISST_THROW(std
const_reference	Element (size_type index) const
const_pointer	Pointer (size_type index=0) const
bool	ValidIndex (size_type index) const
const value_type &	X (void) const
const value_type &	Y (void) const
const value_type &	Z (void) const
const value_type &	W (void) const
vctFixedSizeConstVectorRef< _elementType, 2, _stride >	XY (void) const
vctFixedSizeConstVectorRef< _elementType, 2, 2 *_stride >	XZ (void) const
vctFixedSizeConstVectorRef< _elementType, 2, 3 *_stride >	XW (void) const
vctFixedSizeConstVectorRef< _elementType, 2, _stride >	YZ (void) const
vctFixedSizeConstVectorRef< _elementType, 2, 2 *_stride >	YW (void) const
vctFixedSizeConstVectorRef< _elementType, 2, _stride >	ZW (void) const
vctFixedSizeConstVectorRef< _elementType, 3, _stride >	XYZ (void) const
vctFixedSizeConstVectorRef< _elementType, 3, _stride >	YZW (void) const
vctFixedSizeConstVectorRef< _elementType, 4, _stride >	XYZW (void) const
RowConstMatrixRefType	AsRowMatrix (void) const
ColConstMatrixRefType	AsColMatrix (void) const
vctFixedSizeConstVectorRef< _elementType, __subSize, _stride >	Ref (const size_type startPosition=0) const CISST_THROW(std
value_type	SumOfElements (void) const
value_type	ProductOfElements (void) const
value_type	NormSquare (void) const
NormType	Norm (void) const
bool	IsNormalized (_elementType tolerance=cmnTypeTraits< _elementType >::Tolerance()) const
value_type	L1Norm (void) const
value_type	LinfNorm (void) const
value_type	MaxElement (void) const
value_type	MinElement (void) const
value_type	MaxAbsElement (void) const
value_type	MinAbsElement (void) const
void	MinAndMaxElement (value_type &minElement, value_type &maxElement) const
bool	IsPositive (void) const
bool	IsNonNegative (void) const
bool	IsNonPositive (void) const
bool	IsNegative (void) const
bool	All (void) const
bool	Any (void) const
bool	IsFinite (void) const
bool	HasNaN (void) const
bool	IsCompact (void) const
bool	IsFortran (void) const
bool	FastCopyCompatible (const vctFixedSizeConstVectorBase< __size, __stride, value_type, __dataPtrType > &source) const
value_type	DotProduct (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	Equal (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	operator== (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	AlmostEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector, value_type tolerance) const
bool	NotEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	operator!= (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	Lesser (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	LesserOrEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	Greater (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
bool	GreaterOrEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
BoolVectorValueType	ElementwiseEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
BoolVectorValueType	ElementwiseNotEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
BoolVectorValueType	ElementwiseLesser (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
BoolVectorValueType	ElementwiseLesserOrEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
BoolVectorValueType	ElementwiseGreater (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
BoolVectorValueType	ElementwiseGreaterOrEqual (const vctFixedSizeConstVectorBase< _size, __stride, value_type, __dataPtrType > &otherVector) const
VectorValueType	Abs (void) const
VectorValueType	Negation (void) const
VectorValueType	Floor (void) const
VectorValueType	Ceil (void) const
VectorValueType Normalized(void) const CISST_THROW(std void	ToStream (std::ostream &outputStream) const
void	ToStreamRaw (std::ostream &outputStream, const char delimiter=' ', bool headerOnly=false, const std::string &headerPrefix="") const
void	SerializeRaw (std::ostream &outputStream) const

Additional Inherited Members
Protected Member Functions inherited from vctQuaternionBase< vctFixedSizeVector< _elementType, 4 > >
void	Allocate (void)
void	Allocate (void)
Protected Member Functions inherited from vctFixedSizeConstVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >
void	ThrowUnlessValidIndex (size_type index) const CISST_THROW(std
Protected Attributes inherited from vctFixedSizeConstVectorBase< _size, _stride, _elementType, vctFixedSizeVectorTraits< _elementType, _size, 1 >::array >
vctFixedSizeVectorTraits< _elementType, _size, 1 >::array	Data

Detailed Description

template<class _elementType>
class vctQuaternion< _elementType >

Define a quaternion container.

This class is templated by the element type. It is derived from vctQuaternionBase and uses a vctFixedSizeVector as underlying container. It provides a more humain interface for programmers only interested in templating by _elementType.

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

Parameters

_elementType The type of elements of the vector.

See also: vctQuaternionBase vctFixedSizeVector

Member Typedef Documentation

◆ BaseType

template<class _elementType>

typedef vctQuaternionBase<ContainerType> vctQuaternion< _elementType >::BaseType

◆ ContainerType

template<class _elementType>

typedef vctFixedSizeVector<value_type, SIZE> vctQuaternion< _elementType >::ContainerType

◆ ThisType

template<class _elementType>

typedef vctQuaternion<value_type> vctQuaternion< _elementType >::ThisType

◆ TypeTraits

template<class _elementType>

typedef cmnTypeTraits<value_type> vctQuaternion< _elementType >::TypeTraits

Member Enumeration Documentation

◆ anonymous enum

template<class _elementType>

anonymous enum

Enumerator
SIZE

Constructor & Destructor Documentation

◆ vctQuaternion() [1/2]

template<class _elementType>

vctQuaternion< _elementType >::vctQuaternion ( )

inline

Default constructor. Does nothing.

◆ vctQuaternion() [2/2]

template<class _elementType>

vctQuaternion< _elementType >::vctQuaternion	(	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

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()

template<class _elementType>

vctQuaternion< _elementType >::VCT_CONTAINER_TRAITS_TYPEDEFS ( _elementType )

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

tmp/cisst-saw/cisst/cisstVector/vctQuaternion.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseType

◆ ContainerType

◆ ThisType

◆ TypeTraits

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ vctQuaternion() [1/2]

◆ vctQuaternion() [2/2]

Member Function Documentation

◆ VCT_CONTAINER_TRAITS_TYPEDEFS()