Utils::Quaternion< T > Struct Template Reference

Quaternion representation. More...

#include <quaternion.hpp>

Collaboration diagram for Utils::Quaternion< T >:

Public Types
using	container = typename Utils::Array< T, 4 >
using	pointer = typename container::pointer
using	const_pointer = typename container::const_pointer
using	value_type = typename container::value_type
using	reference = typename container::reference

Public Member Functions
void	normalize ()
	Normalize the quaternion in place.
Quaternion< T >	normalized () const
	Retrieve a normalized copy of the quaternion.
value_type	operator[] (std::size_t i) const
	Element access (const).
reference	operator[] (std::size_t i)
	Element access (non const).
value_type	norm () const
	Retrieve the norm of the quaternion.
value_type	norm2 () const
	Retrieve the square of the norm of the quaternion.
constexpr pointer	data ()
	Access to the underlying data (non const).
constexpr const_pointer	data () const noexcept
	Access to the underlying data (const).

Static Public Member Functions
static Quaternion< T >	identity ()
	Construct an identity quaternion.
static Quaternion< T >	zero ()
	Construct a zero quaternion.

Public Attributes
container	m_data

Friends
class	boost::serialization::access

Detailed Description

template<typename T>
struct Utils::Quaternion< T >

Quaternion representation.

Template Parameters

T	Element data type.

Definition at line 57 of file quaternion.hpp.

Member Typedef Documentation

const_pointer

template<typename T >

using Utils::Quaternion< T >::const_pointer = typename container::const_pointer

Definition at line 61 of file quaternion.hpp.

container

template<typename T >

using Utils::Quaternion< T >::container = typename Utils::Array<T, 4>

Definition at line 58 of file quaternion.hpp.

pointer

template<typename T >

using Utils::Quaternion< T >::pointer = typename container::pointer

Definition at line 60 of file quaternion.hpp.

reference

template<typename T >

using Utils::Quaternion< T >::reference = typename container::reference

Definition at line 63 of file quaternion.hpp.

value_type

template<typename T >

using Utils::Quaternion< T >::value_type = typename container::value_type

Definition at line 62 of file quaternion.hpp.

Member Function Documentation

data() [1/2]

template<typename T >

constexpr pointer Utils::Quaternion< T >::data ( )

inlineconstexpr

Access to the underlying data (non const).

Returns

Pointer to the first data member.

Definition at line 123 of file quaternion.hpp.

References Utils::Quaternion< T >::m_data.

data() [2/2]

template<typename T >

constexpr const_pointer Utils::Quaternion< T >::data ( ) const

inlineconstexprnoexcept

Access to the underlying data (const).

Returns

Pointer to the first data member.

Definition at line 129 of file quaternion.hpp.

References Utils::Quaternion< T >::m_data.

identity()

template<typename T >

static Quaternion< T > Utils::Quaternion< T >::identity ( )

inlinestatic

Construct an identity quaternion.

Returns

Identity quaternion.

Definition at line 111 of file quaternion.hpp.

Referenced by propagate_omega_quat_particle().

norm()

template<typename T >

value_type Utils::Quaternion< T >::norm ( ) const

inline

Retrieve the norm of the quaternion.

Returns

The norm.

Definition at line 100 of file quaternion.hpp.

norm2()

template<typename T >

value_type Utils::Quaternion< T >::norm2 ( ) const

inline

Retrieve the square of the norm of the quaternion.

Returns

The squared norm.

Definition at line 105 of file quaternion.hpp.

Referenced by calculate_vs_relate_to_params(), and define_Qdd().

normalize()

template<typename T >

void Utils::Quaternion< T >::normalize ( )

inline

Normalize the quaternion in place.

Definition at line 75 of file quaternion.hpp.

normalized()

template<typename T >

Quaternion< T > Utils::Quaternion< T >::normalized ( ) const

inline

Retrieve a normalized copy of the quaternion.

Returns

Normalized quaternion.

Definition at line 81 of file quaternion.hpp.

Referenced by Utils::rotation_matrix().

operator[]() [1/2]

template<typename T >

reference Utils::Quaternion< T >::operator[] ( std::size_t  i )

inline

Element access (non const).

Parameters

i	Element index.

Returns

Value of element i.

Definition at line 94 of file quaternion.hpp.

References Utils::Quaternion< T >::m_data.

operator[]() [2/2]

template<typename T >

value_type Utils::Quaternion< T >::operator[] ( std::size_t  i ) const

inline

Element access (const).

Parameters

i	Element index.

Returns

Value of element i.

Definition at line 88 of file quaternion.hpp.

References Utils::Quaternion< T >::m_data.

zero()

template<typename T >

static Quaternion< T > Utils::Quaternion< T >::zero ( )

inlinestatic

Construct a zero quaternion.

Returns

Quaternion with all elements set to zero.

Definition at line 117 of file quaternion.hpp.

Friends And Related Symbol Documentation

boost::serialization::access

template<typename T >

friend class boost::serialization::access

friend

Definition at line 66 of file quaternion.hpp.

Member Data Documentation

m_data

template<typename T >

container Utils::Quaternion< T >::m_data

Definition at line 59 of file quaternion.hpp.

Referenced by Utils::Quaternion< T >::data(), Utils::Quaternion< T >::data(), Utils::Quaternion< T >::operator[](), and Utils::Quaternion< T >::operator[]().

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

• quaternion.hpp