numeric::Quaternion< T > Class Template Reference

Unit quaternion 3-D orientation representation. More...

#include <Quaternion.hh>

Public Types
typedef T	Value
typedef T &	Reference
typedef T const &	ConstReference
typedef T *	Pointer
typedef T const *	ConstPointer
typedef T	value_type
typedef T &	reference
typedef T const &	const_reference
typedef T *	pointer
typedef T const *	const_pointer
typedef NumericTraits< T >	Traits
typedef xyzVector< T >	Axis

Public Member Functions
	Quaternion ()
	Default constructor. More...
	Quaternion (Value const &w_a, Value const &x_a, Value const &y_a, Value const &z_a, bool const precise=true)
	Coordinate constructor. More...
	Quaternion (Axis const &u, Value const &angle, bool const precise=true)
	Quaternion (Quaternion const &q)
	Copy constructor. More...
	~Quaternion ()
	Destructor. More...
Quaternion &	operator= (Quaternion const &q)
void	w (Value newval)
	w More...
void	x (Value newval)
	x More...
void	y (Value newval)
	y More...
void	z (Value newval)
	z More...
Value const &	w () const
	w More...
Value const &	x () const
	x More...
Value const &	y () const
	y More...
Value const &	z () const
	z More...
Value	w_squared () const
	w squared More...
Value	x_squared () const
	x squared More...
Value	y_squared () const
	y squared More...
Value	z_squared () const
	z squared More...
Value	norm () const
	Norm: Should be one. More...
Value	norm_squared () const
	Norm squared: Should be one. More...
Value	norm_error () const
	Norm error. More...
Value	norm_squared_error () const
	Norm squared error. More...
Value	magnitude () const
	Magnitude: Should be one. More...
Value	magnitude_squared () const
	Magnitude squared: Should be one. More...
Value	magnitude_error () const
	Magnitude error. More...
Value	magnitude_squared_error () const
	Magnitude squared error. More...
bool	is_normalized (Value const &tol=Traits::quaternion_tolerance()) const
	Magnitude squared error within tolerance? More...
bool	not_normalized (Value const &tol=Traits::quaternion_tolerance()) const
	Magnitude squared error exceeds tolerance? More...
Value	angle () const
	Principal angle of rotation (on [0,2*pi]) More...
Axis	axis () const
	Axis of Rotation unit vector (direction for angle on [0,2*pi]) More...
Axis &	axis (Axis &u) const
	Axis of rotation unit vector: Passed vector (direction for angle on [0,2*pi]) More...
std::string	to_string () const
	to_string, useful for utility exits More...
Value	dot (Quaternion const &q) const
	Dot product. More...
Value	dot_product (Quaternion const &q) const
	Dot product. More...
Quaternion &	normalize ()
	Normalize. More...
Quaternion &	normalize_if_needed (Value const &tol=Traits::quaternion_tolerance())
	Normalize if magnitude squared error exceeds tolerance. More...
Quaternion &	to_identity ()
	Identity. More...
Quaternion &	conjugate ()
	Conjugate. More...
Quaternion &	invert ()
	Invert. More...
Quaternion &	apply (Quaternion const &q, bool const precise=true)
	Apply a successive Quaternion. More...
Quaternion &	left_multiply_by (Quaternion const &q, bool const precise=true)
	Left multiply by a Quaternion. More...
Quaternion &	right_multiply_by (Quaternion const &q, bool const precise=true)
	Right multiply by a Quaternion. More...
Quaternion &	left_multiply_by_inverse_of (Quaternion const &q, bool const precise=true)
	Left multiply by the inverse of a Quaternion. More...
Quaternion &	right_multiply_by_inverse_of (Quaternion const &q, bool const precise=true)
	Right multiply by the inverse of a Quaternion. More...
void	swap (Quaternion &q)
	Swap. More...
Quaternion	conjugated () const
	Conjugated. More...
Quaternion	inverse () const
	Inverse. More...

Static Public Member Functions
static Quaternion	identity ()
	Identity named constructor. More...
static Quaternion const &	I ()
	Identity Quaternion for expressions. More...

Private Attributes
Value	w_
	w coordinate More...
Value	x_
	x coordinate More...
Value	y_
	y coordinate More...
Value	z_
	z coordinate More...

Friends
class	BodyPosition< T >
template<class U >
Quaternion< U >	operator* (Quaternion< U > const &q2, Quaternion< U > const &q1)
	Quaternion * Quaternion (always normalizes return value) More...
template<class U >
Quaternion< U >	product (Quaternion< U > const &q2, Quaternion< U > const &q1, bool const precise=true)
	Product: Quaternion * Quaternion. More...
template<class U >
bool	operator== (Quaternion< U > const &q1, Quaternion< U > const &q2)
	Quaternion == Quaternion. More...
template<class U >
bool	operator!= (Quaternion< U > const &q1, Quaternion< U > const &q2)
	Quaternion != Quaternion. More...
template<class U >
Value	dot (Quaternion< U > const &q1, Quaternion< U > const &q2)
	Dot product. More...
template<class U >
Value	dot_product (Quaternion< U > const &q1, Quaternion< U > const &q2)
	Dot product. More...

Detailed Description

template<typename T>
class numeric::Quaternion< T >

Unit quaternion 3-D orientation representation.

Remarks

• Quaternion defined as ( w, x, y, z )
• Quaternions must be in the same coordinate frame to be used together
• Successive rotation convention: q2 * q1 means q1 followed by q2
• Performance-critical code can suppress normalization after every modification and use explicit normalization

Member Typedef Documentation

Axis

template<typename T >

typedef xyzVector< T > numeric::Quaternion< T >::Axis

const_pointer

template<typename T >

typedef T const* numeric::Quaternion< T >::const_pointer

const_reference

template<typename T >

typedef T const& numeric::Quaternion< T >::const_reference

ConstPointer

template<typename T >

typedef T const* numeric::Quaternion< T >::ConstPointer

ConstReference

template<typename T >

typedef T const& numeric::Quaternion< T >::ConstReference

Pointer

template<typename T >

typedef T* numeric::Quaternion< T >::Pointer

pointer

template<typename T >

typedef T* numeric::Quaternion< T >::pointer

Reference

template<typename T >

typedef T& numeric::Quaternion< T >::Reference

reference

template<typename T >

typedef T& numeric::Quaternion< T >::reference

Traits

template<typename T >

typedef NumericTraits< T > numeric::Quaternion< T >::Traits

Value

template<typename T >

typedef T numeric::Quaternion< T >::Value

value_type

template<typename T >

typedef T numeric::Quaternion< T >::value_type

Constructor & Destructor Documentation

Quaternion() [1/4]

template<typename T >

numeric::Quaternion< T >::Quaternion ( )

inline

Default constructor.

Referenced by numeric::Quaternion< T >::conjugated(), numeric::Quaternion< T >::identity(), and numeric::Quaternion< T >::inverse().

Quaternion() [2/4]

template<typename T >

numeric::Quaternion< T >::Quaternion ( Value const &  w_a, Value const &  x_a, Value const &  y_a, Value const &  z_a, bool const  precise = true  )

inline

Coordinate constructor.

References numeric::Quaternion< T >::is_normalized(), and numeric::Quaternion< T >::normalize().

Quaternion() [3/4]

template<typename T >

numeric::Quaternion< T >::Quaternion ( Axis const &  u, Value const &  angle, bool const  precise = true  )

inline

References numeric::Quaternion< T >::is_normalized(), and numeric::Quaternion< T >::normalize().

Quaternion() [4/4]

template<typename T >

numeric::Quaternion< T >::Quaternion ( Quaternion< T > const &  q )

inline

Copy constructor.

~Quaternion()

template<typename T >

numeric::Quaternion< T >::~Quaternion ( )

inline

Destructor.

Member Function Documentation

angle()

template<typename T >

Value numeric::Quaternion< T >::angle ( ) const

inline

Principal angle of rotation (on [0,2*pi])

References pyrosetta.distributed.cluster.exceptions::T, and numeric::Quaternion< T >::w_.

Referenced by numeric::BodyPosition< T >::angle().

apply()

template<typename T >

Quaternion& numeric::Quaternion< T >::apply ( Quaternion< T > const &  q, bool const  precise = true  )

inline

Apply a successive Quaternion.

References numeric::Quaternion< T >::left_multiply_by(), and enumerate_junctions::q.

Referenced by pyrosetta.distributed.tasks.rosetta_scripts.BaseRosettaScriptsTask::execute().

axis() [1/2]

template<typename T >

Axis numeric::Quaternion< T >::axis ( ) const

inline

Axis of Rotation unit vector (direction for angle on [0,2*pi])

References numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::axis().

axis() [2/2]

template<typename T >

Axis& numeric::Quaternion< T >::axis ( Axis &  u ) const

inline

Axis of rotation unit vector: Passed vector (direction for angle on [0,2*pi])

References kmeans_adaptive_kernel_density_bb_dependent_rotlib::u, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

conjugate()

template<typename T >

Quaternion& numeric::Quaternion< T >::conjugate ( )

inline

Conjugate.

References numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

conjugated()

template<typename T >

Quaternion numeric::Quaternion< T >::conjugated ( ) const

inline

Conjugated.

References numeric::Quaternion< T >::Quaternion(), numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

dot()

template<typename T >

Value numeric::Quaternion< T >::dot ( Quaternion< T > const &  q ) const

inline

Dot product.

References enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

dot_product()

template<typename T >

Value numeric::Quaternion< T >::dot_product ( Quaternion< T > const &  q ) const

inline

Dot product.

References enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

I()

template<typename T >

static Quaternion const& numeric::Quaternion< T >::I ( )

inlinestatic

Identity Quaternion for expressions.

Note

Default and identity() named constructors can be faster for construction

Can be safely used in construction of global objects

References pyrosetta.distributed.cluster.exceptions::T.

identity()

template<typename T >

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

inlinestatic

Identity named constructor.

References numeric::Quaternion< T >::Quaternion(), and pyrosetta.distributed.cluster.exceptions::T.

inverse()

template<typename T >

Quaternion numeric::Quaternion< T >::inverse ( ) const

inline

Inverse.

References numeric::Quaternion< T >::Quaternion(), numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

invert()

template<typename T >

Quaternion& numeric::Quaternion< T >::invert ( )

inline

Invert.

References numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::invert().

is_normalized()

template<typename T >

bool numeric::Quaternion< T >::is_normalized ( Value const &  tol = Traits::quaternion_tolerance() ) const

inline

Magnitude squared error within tolerance?

References numeric::Quaternion< T >::norm_squared_error(), and loops_kic::tol.

Referenced by numeric::Quaternion< T >::Quaternion().

left_multiply_by()

template<typename T >

Quaternion& numeric::Quaternion< T >::left_multiply_by ( Quaternion< T > const &  q, bool const  precise = true  )

inline

Left multiply by a Quaternion.

References numeric::Quaternion< T >::normalize(), enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::Quaternion< T >::apply(), and numeric::BodyPosition< T >::left_transform_by().

left_multiply_by_inverse_of()

template<typename T >

Quaternion& numeric::Quaternion< T >::left_multiply_by_inverse_of ( Quaternion< T > const &  q, bool const  precise = true  )

inline

Left multiply by the inverse of a Quaternion.

References numeric::Quaternion< T >::normalize(), enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::left_transform_by_inverse_of().

magnitude()

template<typename T >

Value numeric::Quaternion< T >::magnitude ( ) const

inline

Magnitude: Should be one.

References numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::Quaternion< T >::magnitude_error().

magnitude_error()

template<typename T >

Value numeric::Quaternion< T >::magnitude_error ( ) const

inline

Magnitude error.

References ObjexxFCL::abs(), numeric::Quaternion< T >::magnitude(), and pyrosetta.distributed.cluster.exceptions::T.

magnitude_squared()

template<typename T >

Value numeric::Quaternion< T >::magnitude_squared ( ) const

inline

Magnitude squared: Should be one.

References numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::Quaternion< T >::magnitude_squared_error().

magnitude_squared_error()

template<typename T >

Value numeric::Quaternion< T >::magnitude_squared_error ( ) const

inline

Magnitude squared error.

References ObjexxFCL::abs(), numeric::Quaternion< T >::magnitude_squared(), and pyrosetta.distributed.cluster.exceptions::T.

norm()

template<typename T >

Value numeric::Quaternion< T >::norm ( ) const

inline

Norm: Should be one.

References numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::Quaternion< T >::norm_error().

norm_error()

template<typename T >

Value numeric::Quaternion< T >::norm_error ( ) const

inline

Norm error.

References ObjexxFCL::abs(), numeric::Quaternion< T >::norm(), and pyrosetta.distributed.cluster.exceptions::T.

norm_squared()

template<typename T >

Value numeric::Quaternion< T >::norm_squared ( ) const

inline

Norm squared: Should be one.

References numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::Quaternion< T >::norm_squared_error(), numeric::Quaternion< T >::normalize(), and numeric::Quaternion< T >::normalize_if_needed().

norm_squared_error()

template<typename T >

Value numeric::Quaternion< T >::norm_squared_error ( ) const

inline

Norm squared error.

References ObjexxFCL::abs(), numeric::Quaternion< T >::norm_squared(), and pyrosetta.distributed.cluster.exceptions::T.

Referenced by numeric::Quaternion< T >::is_normalized(), and numeric::Quaternion< T >::not_normalized().

normalize()

template<typename T >

Quaternion& numeric::Quaternion< T >::normalize ( )

inline

Normalize.

References numeric::Quaternion< T >::norm_squared(), pyrosetta.distributed.cluster.exceptions::T, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::Quaternion< T >::left_multiply_by(), numeric::Quaternion< T >::left_multiply_by_inverse_of(), numeric::BodyPosition< T >::normalize(), numeric::BodyPosition< T >::q_refresh(), numeric::Quaternion< T >::Quaternion(), numeric::BodyPosition< T >::R_refresh(), numeric::Quaternion< T >::right_multiply_by(), and numeric::Quaternion< T >::right_multiply_by_inverse_of().

normalize_if_needed()

template<typename T >

Quaternion& numeric::Quaternion< T >::normalize_if_needed ( Value const &  tol = Traits::quaternion_tolerance() )

inline

Normalize if magnitude squared error exceeds tolerance.

References ObjexxFCL::abs(), numeric::Quaternion< T >::norm_squared(), pyrosetta.distributed.cluster.exceptions::T, loops_kic::tol, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::normalize_if_needed().

not_normalized()

template<typename T >

bool numeric::Quaternion< T >::not_normalized ( Value const &  tol = Traits::quaternion_tolerance() ) const

inline

Magnitude squared error exceeds tolerance?

References numeric::Quaternion< T >::norm_squared_error(), and loops_kic::tol.

operator=()

template<typename T >

Quaternion& numeric::Quaternion< T >::operator= ( Quaternion< T > const &  q )

inline

References enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

right_multiply_by()

template<typename T >

Quaternion& numeric::Quaternion< T >::right_multiply_by ( Quaternion< T > const &  q, bool const  precise = true  )

inline

Right multiply by a Quaternion.

References numeric::Quaternion< T >::normalize(), enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::right_transform_by().

right_multiply_by_inverse_of()

template<typename T >

Quaternion& numeric::Quaternion< T >::right_multiply_by_inverse_of ( Quaternion< T > const &  q, bool const  precise = true  )

inline

Right multiply by the inverse of a Quaternion.

References numeric::Quaternion< T >::normalize(), enumerate_junctions::q, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::right_transform_by_inverse_of().

swap()

template<typename T >

void numeric::Quaternion< T >::swap ( Quaternion< T > &  q )

inline

Swap.

References enumerate_junctions::q, predPRE::t, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

to_identity()

template<typename T >

Quaternion& numeric::Quaternion< T >::to_identity ( )

inline

Identity.

References pyrosetta.distributed.cluster.exceptions::T, numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

Referenced by numeric::BodyPosition< T >::to_identity().

to_string()

template<typename T >

std::string numeric::Quaternion< T >::to_string ( ) const

inline

to_string, useful for utility exits

References numeric::interpolation::to_string(), numeric::Quaternion< T >::w_, numeric::Quaternion< T >::x_, numeric::Quaternion< T >::y_, and numeric::Quaternion< T >::z_.

w() [1/2]

template<typename T >

Value const& numeric::Quaternion< T >::w ( ) const

inline

w

References numeric::Quaternion< T >::w_.

w() [2/2]

template<typename T >

void numeric::Quaternion< T >::w ( Value  newval )

inline

w

References numeric::Quaternion< T >::w_.

w_squared()

template<typename T >

Value numeric::Quaternion< T >::w_squared ( ) const

inline

w squared

References numeric::Quaternion< T >::w_.

x() [1/2]

template<typename T >

Value const& numeric::Quaternion< T >::x ( ) const

inline

x

References numeric::Quaternion< T >::x_.

Referenced by PyMOL-Rosetta-relay-client.XYZCoord::__init__(), PyMOL-RosettaServer.XYZCoord::__init__(), PyMOL-Rosetta-relay-client.XYZCoord::__str__(), PyMOL-RosettaServer.XYZCoord::__str__(), and pyrosetta.PyMOLRosettaServer.XYZCoord::__str__().

x() [2/2]

template<typename T >

void numeric::Quaternion< T >::x ( Value  newval )

inline

x

References numeric::Quaternion< T >::x_.

Referenced by PyMOL-Rosetta-relay-client.XYZCoord::__init__(), PyMOL-RosettaServer.XYZCoord::__init__(), PyMOL-Rosetta-relay-client.XYZCoord::__str__(), PyMOL-RosettaServer.XYZCoord::__str__(), and pyrosetta.PyMOLRosettaServer.XYZCoord::__str__().

x_squared()

template<typename T >

Value numeric::Quaternion< T >::x_squared ( ) const

inline

x squared

References numeric::Quaternion< T >::x_.

y() [1/2]

template<typename T >

Value const& numeric::Quaternion< T >::y ( ) const

inline

y

References numeric::Quaternion< T >::y_.

Referenced by PyMOL-Rosetta-relay-client.XYZCoord::__init__(), PyMOL-RosettaServer.XYZCoord::__init__(), PyMOL-Rosetta-relay-client.XYZCoord::__str__(), PyMOL-RosettaServer.XYZCoord::__str__(), and pyrosetta.PyMOLRosettaServer.XYZCoord::__str__().

y() [2/2]

template<typename T >

void numeric::Quaternion< T >::y ( Value  newval )

inline

y

References numeric::Quaternion< T >::y_.

Referenced by PyMOL-Rosetta-relay-client.XYZCoord::__init__(), PyMOL-RosettaServer.XYZCoord::__init__(), PyMOL-Rosetta-relay-client.XYZCoord::__str__(), PyMOL-RosettaServer.XYZCoord::__str__(), and pyrosetta.PyMOLRosettaServer.XYZCoord::__str__().

y_squared()

template<typename T >

Value numeric::Quaternion< T >::y_squared ( ) const

inline

y squared

References numeric::Quaternion< T >::y_.

z() [1/2]

template<typename T >

Value const& numeric::Quaternion< T >::z ( ) const

inline

z

References numeric::Quaternion< T >::z_.

Referenced by PyMOL-Rosetta-relay-client.XYZCoord::__init__(), PyMOL-RosettaServer.XYZCoord::__init__(), PyMOL-Rosetta-relay-client.XYZCoord::__str__(), PyMOL-RosettaServer.XYZCoord::__str__(), and pyrosetta.PyMOLRosettaServer.XYZCoord::__str__().

z() [2/2]

template<typename T >

void numeric::Quaternion< T >::z ( Value  newval )

inline

z

References numeric::Quaternion< T >::z_.

Referenced by PyMOL-Rosetta-relay-client.XYZCoord::__init__(), PyMOL-RosettaServer.XYZCoord::__init__(), PyMOL-Rosetta-relay-client.XYZCoord::__str__(), PyMOL-RosettaServer.XYZCoord::__str__(), and pyrosetta.PyMOLRosettaServer.XYZCoord::__str__().

z_squared()

template<typename T >

Value numeric::Quaternion< T >::z_squared ( ) const

inline

z squared

References numeric::Quaternion< T >::z_.

Friends And Related Function Documentation

BodyPosition< T >

template<typename T >

friend class BodyPosition< T >

friend

dot

template<typename T >

template<class U >

Value dot ( Quaternion< U > const &  q1, Quaternion< U > const &  q2  )

friend

Dot product.

dot_product

template<typename T >

template<class U >

Value dot_product ( Quaternion< U > const &  q1, Quaternion< U > const &  q2  )

friend

Dot product.

operator!=

template<typename T >

template<class U >

bool operator!= ( Quaternion< U > const &  q1, Quaternion< U > const &  q2  )

friend

Quaternion != Quaternion.

operator*

template<typename T >

template<class U >

Quaternion<U> operator* ( Quaternion< U > const &  q2, Quaternion< U > const &  q1  )

friend

Quaternion * Quaternion (always normalizes return value)

operator==

template<typename T >

template<class U >

bool operator== ( Quaternion< U > const &  q1, Quaternion< U > const &  q2  )

friend

Quaternion == Quaternion.

product

template<typename T >

template<class U >

Quaternion<U> product ( Quaternion< U > const &  q2, Quaternion< U > const &  q1, bool const  precise = true  )

friend

Product: Quaternion * Quaternion.

Member Data Documentation

w_

template<typename T >

Value numeric::Quaternion< T >::w_

private

w coordinate

Referenced by numeric::Quaternion< T >::angle(), numeric::Quaternion< T >::conjugated(), numeric::Quaternion< T >::dot(), numeric::Quaternion< T >::dot_product(), numeric::Quaternion< T >::inverse(), numeric::Quaternion< T >::left_multiply_by(), numeric::Quaternion< T >::left_multiply_by_inverse_of(), numeric::Quaternion< T >::magnitude(), numeric::Quaternion< T >::magnitude_squared(), numeric::Quaternion< T >::norm(), numeric::Quaternion< T >::norm_squared(), numeric::Quaternion< T >::normalize(), numeric::Quaternion< T >::normalize_if_needed(), numeric::Quaternion< T >::operator=(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_refresh(), numeric::Quaternion< T >::right_multiply_by(), numeric::Quaternion< T >::right_multiply_by_inverse_of(), numeric::Quaternion< T >::swap(), numeric::Quaternion< T >::to_identity(), numeric::Quaternion< T >::to_string(), numeric::Quaternion< T >::w(), and numeric::Quaternion< T >::w_squared().

x_

template<typename T >

Value numeric::Quaternion< T >::x_

private

x coordinate

Referenced by numeric::Quaternion< T >::axis(), numeric::Quaternion< T >::conjugate(), numeric::Quaternion< T >::conjugated(), numeric::Quaternion< T >::dot(), numeric::Quaternion< T >::dot_product(), numeric::Quaternion< T >::inverse(), numeric::Quaternion< T >::invert(), numeric::Quaternion< T >::left_multiply_by(), numeric::Quaternion< T >::left_multiply_by_inverse_of(), numeric::Quaternion< T >::magnitude(), numeric::Quaternion< T >::magnitude_squared(), numeric::Quaternion< T >::norm(), numeric::Quaternion< T >::norm_squared(), numeric::Quaternion< T >::normalize(), numeric::Quaternion< T >::normalize_if_needed(), numeric::Quaternion< T >::operator=(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_refresh(), numeric::Quaternion< T >::right_multiply_by(), numeric::Quaternion< T >::right_multiply_by_inverse_of(), numeric::Quaternion< T >::swap(), numeric::Quaternion< T >::to_identity(), numeric::Quaternion< T >::to_string(), numeric::Quaternion< T >::x(), and numeric::Quaternion< T >::x_squared().

y_

template<typename T >

Value numeric::Quaternion< T >::y_

private

y coordinate

Referenced by numeric::Quaternion< T >::axis(), numeric::Quaternion< T >::conjugate(), numeric::Quaternion< T >::conjugated(), numeric::Quaternion< T >::dot(), numeric::Quaternion< T >::dot_product(), numeric::Quaternion< T >::inverse(), numeric::Quaternion< T >::invert(), numeric::Quaternion< T >::left_multiply_by(), numeric::Quaternion< T >::left_multiply_by_inverse_of(), numeric::Quaternion< T >::magnitude(), numeric::Quaternion< T >::magnitude_squared(), numeric::Quaternion< T >::norm(), numeric::Quaternion< T >::norm_squared(), numeric::Quaternion< T >::normalize(), numeric::Quaternion< T >::normalize_if_needed(), numeric::Quaternion< T >::operator=(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_refresh(), numeric::Quaternion< T >::right_multiply_by(), numeric::Quaternion< T >::right_multiply_by_inverse_of(), numeric::Quaternion< T >::swap(), numeric::Quaternion< T >::to_identity(), numeric::Quaternion< T >::to_string(), numeric::Quaternion< T >::y(), and numeric::Quaternion< T >::y_squared().

z_

template<typename T >

Value numeric::Quaternion< T >::z_

private

z coordinate

Referenced by numeric::Quaternion< T >::axis(), numeric::Quaternion< T >::conjugate(), numeric::Quaternion< T >::conjugated(), numeric::Quaternion< T >::dot(), numeric::Quaternion< T >::dot_product(), numeric::Quaternion< T >::inverse(), numeric::Quaternion< T >::invert(), numeric::Quaternion< T >::left_multiply_by(), numeric::Quaternion< T >::left_multiply_by_inverse_of(), numeric::Quaternion< T >::magnitude(), numeric::Quaternion< T >::magnitude_squared(), numeric::Quaternion< T >::norm(), numeric::Quaternion< T >::norm_squared(), numeric::Quaternion< T >::normalize(), numeric::Quaternion< T >::normalize_if_needed(), numeric::Quaternion< T >::operator=(), numeric::BodyPosition< T >::q_refresh(), numeric::BodyPosition< T >::R_refresh(), numeric::Quaternion< T >::right_multiply_by(), numeric::Quaternion< T >::right_multiply_by_inverse_of(), numeric::Quaternion< T >::swap(), numeric::Quaternion< T >::to_identity(), numeric::Quaternion< T >::to_string(), numeric::Quaternion< T >::z(), and numeric::Quaternion< T >::z_squared().

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

• src/numeric/Quaternion.fwd.hh
• src/numeric/Quaternion.hh