csDualQuaternion Class Reference
[Geometry utilities]
Dual quaternion is a combination q = q0 + e*qe where e is the dual identity element (e^2 = 0) For the background, read "Preliminary Sketch of Biquaternions" [W Clifford, 1873]. More...
#include <csgeom/dualquaternion.h>
Public Member Functions | |
| void | Conjugate () |
| Set this dual quaternion to its own conjugate. | |
| csDualQuaternion (const csDualQuaternion &q) | |
| Copy-constructor. | |
| csDualQuaternion (const csQuaternion &real, const csVector3 &t) | |
| Construct from quaternion and a vector. | |
| csDualQuaternion (const csQuaternion &real) | |
| Construct from quaternion (pure rotation). | |
| csDualQuaternion (const csQuaternion &real, const csQuaternion &dual) | |
| Initialize with given values. | |
| csDualQuaternion () | |
| Initialize with identity. | |
| csDualNumber | Dot (const csDualQuaternion &q) const |
| Return euclidian inner-product (dot). | |
| csDualQuaternion | GetConjugate () const |
| Get the conjugate dual quaternion. | |
| csDualQuaternion | GetInverse () const |
| Get the inverse dual quaternion. | |
| csDualNumber | Norm () const |
| Get the norm of this quaternion. | |
| csDualQuaternion & | operator*= (float f) |
| Multiply by scalar. | |
| csDualQuaternion & | operator*= (const csDualQuaternion &q) |
| Multiply this quaternion by another. | |
| csDualQuaternion & | operator+= (const csDualQuaternion &q) |
| Add dual quaternion to this one. | |
| csDualQuaternion & | operator-= (const csDualQuaternion &q) |
| Subtract dual quaternion from this one. | |
| csDualQuaternion & | operator/= (float f) |
| v by scalar | |
| void | SetIdentity () |
| Set quaternion to identity rotation and no rotation. | |
| csVector3 | Transform (const csVector3 &v) const |
| Transform a vector by a dual quaternion. | |
| csVector3 | TransformPoint (const csVector3 &v) const |
| Transform a vector by a dual quaternion as if the vector is a position. | |
| csDualQuaternion | Unit () const |
| Return a unit-length version of this dual quaternion Attempting to normalize a dual quaternion with zero-norm real part will result in a divide by zero error. | |
Public Attributes | |
| csQuaternion | dual |
| The dual part, representing translational component. | |
| csQuaternion | real |
| The real part, representing rotational component. | |
Friends | |
| csDualQuaternion | operator* (float f, const csDualQuaternion &q) |
| Multiply by scalar. | |
| csDualQuaternion | operator* (const csDualQuaternion &q, float f) |
| Multiply by scalar. | |
| csDualQuaternion | operator* (const csDualQuaternion &q1, const csDualQuaternion &q2) |
| Multiply two dual quaternions. | |
| csDualQuaternion | operator+ (const csDualQuaternion &q1, const csDualQuaternion &q2) |
| Add two dual quaternions. | |
| csDualQuaternion | operator- (const csDualQuaternion &q) |
| Get the negative dual quaternion (unary minus). | |
| csDualQuaternion | operator- (const csDualQuaternion &q1, const csDualQuaternion &q2) |
| Subtract two dual quaternions. | |
| csDualQuaternion | operator/ (float f, const csDualQuaternion &q) |
| Divide by scalar. | |
| csDualQuaternion | operator/ (const csDualQuaternion &q, float f) |
| Divide by scalar. | |
Detailed Description
Dual quaternion is a combination q = q0 + e*qe where e is the dual identity element (e^2 = 0) For the background, read "Preliminary Sketch of Biquaternions" [W Clifford, 1873].
- See also:
- csQuaternion
Definition at line 47 of file dualquaternion.h.
Constructor & Destructor Documentation
| csDualQuaternion::csDualQuaternion | ( | ) | [inline] |
Initialize with identity.
Definition at line 53 of file dualquaternion.h.
| csDualQuaternion::csDualQuaternion | ( | const csQuaternion & | real, | |
| const csQuaternion & | dual | |||
| ) | [inline] |
Initialize with given values.
Definition at line 58 of file dualquaternion.h.
| csDualQuaternion::csDualQuaternion | ( | const csQuaternion & | real | ) | [inline] |
Construct from quaternion (pure rotation).
Definition at line 63 of file dualquaternion.h.
| csDualQuaternion::csDualQuaternion | ( | const csQuaternion & | real, | |
| const csVector3 & | t | |||
| ) | [inline] |
Construct from quaternion and a vector.
Definition at line 68 of file dualquaternion.h.
| csDualQuaternion::csDualQuaternion | ( | const csDualQuaternion & | q | ) | [inline] |
Copy-constructor.
Definition at line 73 of file dualquaternion.h.
Member Function Documentation
| void csDualQuaternion::Conjugate | ( | ) | [inline] |
Set this dual quaternion to its own conjugate.
Definition at line 189 of file dualquaternion.h.
| csDualNumber csDualQuaternion::Dot | ( | const csDualQuaternion & | q | ) | const [inline] |
Return euclidian inner-product (dot).
Definition at line 196 of file dualquaternion.h.
| csDualQuaternion csDualQuaternion::GetConjugate | ( | ) | const [inline] |
Get the conjugate dual quaternion.
Definition at line 183 of file dualquaternion.h.
| csDualQuaternion csDualQuaternion::GetInverse | ( | ) | const [inline] |
Get the inverse dual quaternion.
Inverse is only defined when the real part is non-zero.
Definition at line 240 of file dualquaternion.h.
| csDualNumber csDualQuaternion::Norm | ( | ) | const [inline] |
Get the norm of this quaternion.
Definition at line 202 of file dualquaternion.h.
| csDualQuaternion& csDualQuaternion::operator*= | ( | float | f | ) | [inline] |
Multiply by scalar.
Definition at line 153 of file dualquaternion.h.
| csDualQuaternion& csDualQuaternion::operator*= | ( | const csDualQuaternion & | q | ) | [inline] |
Multiply this quaternion by another.
Definition at line 130 of file dualquaternion.h.
| csDualQuaternion& csDualQuaternion::operator+= | ( | const csDualQuaternion & | q | ) | [inline] |
Add dual quaternion to this one.
Definition at line 93 of file dualquaternion.h.
| csDualQuaternion& csDualQuaternion::operator-= | ( | const csDualQuaternion & | q | ) | [inline] |
Subtract dual quaternion from this one.
Definition at line 108 of file dualquaternion.h.
| csDualQuaternion& csDualQuaternion::operator/= | ( | float | f | ) | [inline] |
v by scalar
Definition at line 175 of file dualquaternion.h.
| void csDualQuaternion::SetIdentity | ( | ) | [inline] |
Set quaternion to identity rotation and no rotation.
Definition at line 79 of file dualquaternion.h.
Transform a vector by a dual quaternion.
Definition at line 264 of file dualquaternion.h.
Transform a vector by a dual quaternion as if the vector is a position.
Definition at line 253 of file dualquaternion.h.
| csDualQuaternion csDualQuaternion::Unit | ( | ) | const [inline] |
Return a unit-length version of this dual quaternion Attempting to normalize a dual quaternion with zero-norm real part will result in a divide by zero error.
This is as it should be... fix the calling code.
Definition at line 213 of file dualquaternion.h.
Friends And Related Function Documentation
| csDualQuaternion operator* | ( | float | f, | |
| const csDualQuaternion & | q | |||
| ) | [friend] |
Multiply by scalar.
Definition at line 147 of file dualquaternion.h.
| csDualQuaternion operator* | ( | const csDualQuaternion & | q, | |
| float | f | |||
| ) | [friend] |
Multiply by scalar.
Definition at line 141 of file dualquaternion.h.
| csDualQuaternion operator* | ( | const csDualQuaternion & | q1, | |
| const csDualQuaternion & | q2 | |||
| ) | [friend] |
Multiply two dual quaternions.
Definition at line 122 of file dualquaternion.h.
| csDualQuaternion operator+ | ( | const csDualQuaternion & | q1, | |
| const csDualQuaternion & | q2 | |||
| ) | [friend] |
Add two dual quaternions.
Definition at line 86 of file dualquaternion.h.
| csDualQuaternion operator- | ( | const csDualQuaternion & | q | ) | [friend] |
Get the negative dual quaternion (unary minus).
Definition at line 116 of file dualquaternion.h.
| csDualQuaternion operator- | ( | const csDualQuaternion & | q1, | |
| const csDualQuaternion & | q2 | |||
| ) | [friend] |
Subtract two dual quaternions.
Definition at line 101 of file dualquaternion.h.
| csDualQuaternion operator/ | ( | float | f, | |
| const csDualQuaternion & | q | |||
| ) | [friend] |
Divide by scalar.
Definition at line 168 of file dualquaternion.h.
| csDualQuaternion operator/ | ( | const csDualQuaternion & | q, | |
| float | f | |||
| ) | [friend] |
Divide by scalar.
Definition at line 161 of file dualquaternion.h.
Member Data Documentation
The dual part, representing translational component.
Definition at line 277 of file dualquaternion.h.
The real part, representing rotational component.
Definition at line 274 of file dualquaternion.h.
The documentation for this class was generated from the following file:
- csgeom/dualquaternion.h
Generated for Crystal Space 2.0 by doxygen 1.6.1