Holds a unit quaternion. More...

#include <Quaternion.hpp>

Public Member Functions
	Quaternion ()=default

	Quaternion (const NdArray< double > &inArray)

	Quaternion (const NdArray< double > &inAxis, double inAngle)

	Quaternion (const std::array< double, 4 > &components) noexcept

	Quaternion (const Vec3 &inAxis, double inAngle) noexcept

	Quaternion (double inI, double inJ, double inK, double inS) noexcept

	Quaternion (double roll, double pitch, double yaw) noexcept

double	angleOfRotation () const noexcept

NdArray< double >	angularVelocity (const Quaternion &inQuat2, double inTime) const

Vec3	axisOfRotation () const noexcept

Quaternion	conjugate () const noexcept

double	i () const noexcept

Quaternion	inverse () const noexcept

double	j () const noexcept

double	k () const noexcept

Quaternion	nlerp (const Quaternion &inQuat2, double inPercent) const

bool	operator!= (const Quaternion &inRhs) const noexcept

NdArray< double >	operator* (const NdArray< double > &inVec) const

Quaternion	operator* (const Quaternion &inRhs) const noexcept

Vec3	operator* (const Vec3 &inVec3) const

Quaternion	operator* (double inScalar) const noexcept

Quaternion &	operator*= (const Quaternion &inRhs) noexcept

Quaternion &	operator*= (double inScalar) noexcept

Quaternion	operator+ (const Quaternion &inRhs) const noexcept

Quaternion &	operator+= (const Quaternion &inRhs) noexcept

Quaternion	operator- () const noexcept

Quaternion	operator- (const Quaternion &inRhs) const noexcept

Quaternion &	operator-= (const Quaternion &inRhs) noexcept

Quaternion	operator/ (const Quaternion &inRhs) const noexcept

Quaternion &	operator/= (const Quaternion &inRhs) noexcept

bool	operator== (const Quaternion &inRhs) const noexcept

double	pitch () const noexcept

void	print () const

double	roll () const noexcept

NdArray< double >	rotate (const NdArray< double > &inVector) const

Vec3	rotate (const Vec3 &inVec3) const

double	s () const noexcept

Quaternion	slerp (const Quaternion &inQuat2, double inPercent) const

std::string	str () const

NdArray< double >	toDCM () const

NdArray< double >	toNdArray () const

double	yaw () const noexcept

Static Public Member Functions
static NdArray< double >	angularVelocity (const Quaternion &inQuat1, const Quaternion &inQuat2, double inTime)

static Quaternion	identity () noexcept

static Quaternion	nlerp (const Quaternion &inQuat1, const Quaternion &inQuat2, double inPercent)

static Quaternion	pitchRotation (double inAngle) noexcept

static Quaternion	rollRotation (double inAngle) noexcept

static Quaternion	slerp (const Quaternion &inQuat1, const Quaternion &inQuat2, double inPercent)

static Quaternion	xRotation (double inAngle) noexcept

static Quaternion	yawRotation (double inAngle) noexcept

static Quaternion	yRotation (double inAngle) noexcept

static Quaternion	zRotation (double inAngle) noexcept

Friends
std::ostream &	operator<< (std::ostream &inOStream, const Quaternion &inQuat)

Detailed Description

Holds a unit quaternion.

Constructor & Destructor Documentation

◆ Quaternion() [1/7]

nc::rotations::Quaternion::Quaternion ( )

default

Default Constructor

◆ Quaternion() [2/7]

nc::rotations::Quaternion::Quaternion	(	double	roll,
		double	pitch,
		double	yaw
	)

inlinenoexcept

Constructor

Parameters

roll	euler roll angle in radians
pitch	euler pitch angle in radians
yaw	euler yaw angle in radians

◆ Quaternion() [3/7]

nc::rotations::Quaternion::Quaternion	(	double	inI,
		double	inJ,
		double	inK,
		double	inS
	)

inlinenoexcept

Constructor

Parameters

inI
inJ
inK
inS

◆ Quaternion() [4/7]

nc::rotations::Quaternion::Quaternion ( const std::array< double, 4 > & components )

inlinenoexcept

Constructor

Parameters

components

◆ Quaternion() [5/7]

nc::rotations::Quaternion::Quaternion ( const NdArray< double > & inArray )

inline

Constructor

Parameters

inArray if size = 3 the roll, pitch, yaw euler angles if size = 4 the i, j, k, s components if shape = [3, 3] then direction cosine matrix

◆ Quaternion() [6/7]

nc::rotations::Quaternion::Quaternion	(	const Vec3 &	inAxis,
		double	inAngle
	)

inlinenoexcept

Constructor

Parameters

inAxis	Euler axis
inAngle	Euler angle in radians

◆ Quaternion() [7/7]

nc::rotations::Quaternion::Quaternion	(	const NdArray< double > &	inAxis,
		double	inAngle
	)

inline

Constructor

Parameters

inAxis	Euler axis x,y,z vector components
inAngle	Euler angle in radians

Member Function Documentation

◆ angleOfRotation()

double nc::rotations::Quaternion::angleOfRotation ( ) const

inlinenoexcept

the angle of rotation around the rotation axis that is described by the quaternion

Returns: radians

◆ angularVelocity() [1/2]

static NdArray< double > nc::rotations::Quaternion::angularVelocity	(	const Quaternion &	inQuat1,
		const Quaternion &	inQuat2,
		double	inTime
	)

inlinestatic

angular velocity vector between the two quaternions. The norm of the array is the magnitude

Parameters

inQuat1
inQuat2
inTime	(seperation time)

Returns: NdArray<double>

◆ angularVelocity() [2/2]

NdArray< double > nc::rotations::Quaternion::angularVelocity	(	const Quaternion &	inQuat2,
		double	inTime
	)		const

inline

angular velocity vector between the two quaternions. The norm of the array is the magnitude

Parameters

inQuat2
inTime	(seperation time)

Returns: NdArray<double>

◆ axisOfRotation()

Vec3 nc::rotations::Quaternion::axisOfRotation ( ) const

inlinenoexcept

the axis of rotation described by the quaternion

Returns: Vec3

◆ conjugate()

Quaternion nc::rotations::Quaternion::conjugate ( ) const

inlinenoexcept

quaternion conjugate

Returns: Quaternion

◆ i()

double nc::rotations::Quaternion::i ( ) const

inlinenoexcept

returns the i component

Returns: double

◆ identity()

static Quaternion nc::rotations::Quaternion::identity ( )

inlinestaticnoexcept

quaternion identity (0,0,0,1)

Returns: Quaternion

◆ inverse()

Quaternion nc::rotations::Quaternion::inverse ( ) const

inlinenoexcept

quaternion inverse

Returns: Quaterion

◆ j()

double nc::rotations::Quaternion::j ( ) const

inlinenoexcept

returns the j component

Returns: double

◆ k()

double nc::rotations::Quaternion::k ( ) const

inlinenoexcept

returns the k component

Returns: double

◆ nlerp() [1/2]

static Quaternion nc::rotations::Quaternion::nlerp	(	const Quaternion &	inQuat1,
		const Quaternion &	inQuat2,
		double	inPercent
	)

inlinestatic

linearly interpolates between the two quaternions

Parameters

inQuat1
inQuat2
inPercent	[0, 1]

Returns: Quaternion

◆ nlerp() [2/2]

Quaternion nc::rotations::Quaternion::nlerp	(	const Quaternion &	inQuat2,
		double	inPercent
	)		const

inline

linearly interpolates between the two quaternions

Parameters

inQuat2
inPercent	(0, 1)

Returns: Quaternion

◆ operator!=()

bool nc::rotations::Quaternion::operator!= ( const Quaternion & inRhs ) const

inlinenoexcept

equality operator

Parameters

inRhs

Returns: bool

◆ operator*() [1/4]

NdArray< double > nc::rotations::Quaternion::operator* ( const NdArray< double > & inVec ) const

inline

multiplication operator

Parameters

inVec

Returns: NdArray<double>

◆ operator*() [2/4]

Quaternion nc::rotations::Quaternion::operator* ( const Quaternion & inRhs ) const

inlinenoexcept

multiplication operator

Parameters

inRhs

Returns: Quaternion

◆ operator*() [3/4]

Vec3 nc::rotations::Quaternion::operator* ( const Vec3 & inVec3 ) const

inline

multiplication operator

Parameters

inVec3

Returns: Vec3

◆ operator*() [4/4]

Quaternion nc::rotations::Quaternion::operator* ( double inScalar ) const

inlinenoexcept

multiplication operator, only useful for multiplying by negative 1, all others will be renormalized back out

Parameters

inScalar

Returns: Quaternion

◆ operator*=() [1/2]

Quaternion & nc::rotations::Quaternion::operator*= ( const Quaternion & inRhs )

inlinenoexcept

multiplication assignment operator

Parameters

inRhs

Returns: Quaternion

◆ operator*=() [2/2]

Quaternion & nc::rotations::Quaternion::operator*= ( double inScalar )

inlinenoexcept

multiplication operator, only useful for multiplying by negative 1, all others will be renormalized back out

Parameters

inScalar

Returns: Quaternion

◆ operator+()

Quaternion nc::rotations::Quaternion::operator+ ( const Quaternion & inRhs ) const

inlinenoexcept

addition operator

Parameters

inRhs

Returns: Quaternion

◆ operator+=()

Quaternion & nc::rotations::Quaternion::operator+= ( const Quaternion & inRhs )

inlinenoexcept

addition assignment operator

Parameters

inRhs

Returns: Quaternion

◆ operator-() [1/2]

Quaternion nc::rotations::Quaternion::operator- ( ) const

inlinenoexcept

negative operator

Returns: Quaternion

◆ operator-() [2/2]

Quaternion nc::rotations::Quaternion::operator- ( const Quaternion & inRhs ) const

inlinenoexcept

subtraction operator

Parameters

inRhs

Returns: Quaternion

◆ operator-=()

Quaternion & nc::rotations::Quaternion::operator-= ( const Quaternion & inRhs )

inlinenoexcept

subtraction assignment operator

Parameters

inRhs

Returns: Quaternion

◆ operator/()

Quaternion nc::rotations::Quaternion::operator/ ( const Quaternion & inRhs ) const

inlinenoexcept

division operator

Parameters

inRhs

Returns: Quaternion

◆ operator/=()

Quaternion & nc::rotations::Quaternion::operator/= ( const Quaternion & inRhs )

inlinenoexcept

division assignment operator

Parameters

inRhs

Returns: Quaternion

◆ operator==()

bool nc::rotations::Quaternion::operator== ( const Quaternion & inRhs ) const

inlinenoexcept

equality operator

Parameters

inRhs

Returns: bool

◆ pitch()

double nc::rotations::Quaternion::pitch ( ) const

inlinenoexcept

The euler pitch angle in radians

Returns: euler pitch angle in radians

◆ pitchRotation()

static Quaternion nc::rotations::Quaternion::pitchRotation ( double inAngle )

inlinestaticnoexcept

returns a quaternion to rotate about the pitch axis

Parameters

inAngle (radians)

Returns: Quaternion

◆ print()

void nc::rotations::Quaternion::print ( ) const

inline

prints the Quaternion to the console

◆ roll()

double nc::rotations::Quaternion::roll ( ) const

inlinenoexcept

The euler roll angle in radians

Returns: euler roll angle in radians

◆ rollRotation()

static Quaternion nc::rotations::Quaternion::rollRotation ( double inAngle )

inlinestaticnoexcept

returns a quaternion to rotate about the roll axis

Parameters

inAngle (radians)

Returns: Quaternion

◆ rotate() [1/2]

NdArray< double > nc::rotations::Quaternion::rotate ( const NdArray< double > & inVector ) const

inline

rotate a vector using the quaternion

Parameters

inVector (cartesian vector with x,y,z components)

Returns: NdArray<double> (cartesian vector with x,y,z components)

◆ rotate() [2/2]

Vec3 nc::rotations::Quaternion::rotate ( const Vec3 & inVec3 ) const

inline

rotate a vector using the quaternion

Parameters

inVec3

Returns: Vec3

◆ s()

double nc::rotations::Quaternion::s ( ) const

inlinenoexcept

returns the s component

Returns: double

◆ slerp() [1/2]

static Quaternion nc::rotations::Quaternion::slerp	(	const Quaternion &	inQuat1,
		const Quaternion &	inQuat2,
		double	inPercent
	)

inlinestatic

spherical linear interpolates between the two quaternions

Parameters

inQuat1
inQuat2
inPercent	(0, 1)

Returns: Quaternion

◆ slerp() [2/2]

Quaternion nc::rotations::Quaternion::slerp	(	const Quaternion &	inQuat2,
		double	inPercent
	)		const

inline

spherical linear interpolates between the two quaternions

Parameters

inQuat2
inPercent	(0, 1)

Returns: Quaternion

◆ str()

std::string nc::rotations::Quaternion::str ( ) const

inline

returns the quaternion as a string representation

Returns: std::string

◆ toDCM()

NdArray< double > nc::rotations::Quaternion::toDCM ( ) const

inline

returns the direction cosine matrix

Returns: NdArray<double>

◆ toNdArray()

NdArray< double > nc::rotations::Quaternion::toNdArray ( ) const

inline

returns the quaternion as an NdArray

Returns: NdArray<double>

◆ xRotation()

static Quaternion nc::rotations::Quaternion::xRotation ( double inAngle )

inlinestaticnoexcept

returns a quaternion to rotate about the x-axis by the input angle

Parameters

inAngle (radians)

Returns: Quaternion

◆ yaw()

double nc::rotations::Quaternion::yaw ( ) const

inlinenoexcept

The euler yaw angle in radians

Returns: euler yaw angle in radians

◆ yawRotation()

static Quaternion nc::rotations::Quaternion::yawRotation ( double inAngle )

inlinestaticnoexcept

returns a quaternion to rotate about the yaw axis

Parameters

inAngle (radians)

Returns: Quaternion

◆ yRotation()

static Quaternion nc::rotations::Quaternion::yRotation ( double inAngle )

inlinestaticnoexcept

returns a quaternion to rotate about the y-axis by the input angle

Parameters

inAngle (radians)

Returns: Quaternion

◆ zRotation()

static Quaternion nc::rotations::Quaternion::zRotation ( double inAngle )

inlinestaticnoexcept

returns a quaternion to rotate about the y-axis by the input angle

Parameters

inAngle (radians)

Returns: Quaternion

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	inOStream,
		const Quaternion &	inQuat
	)

friend

IO operator for the Quaternion class

Parameters

inOStream
inQuat

Returns: std::ostream&

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

Quaternion.hpp

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Quaternion() [1/7]

◆ Quaternion() [2/7]

◆ Quaternion() [3/7]

◆ Quaternion() [4/7]

◆ Quaternion() [5/7]

◆ Quaternion() [6/7]

◆ Quaternion() [7/7]

Member Function Documentation

◆ angleOfRotation()

◆ angularVelocity() [1/2]

◆ angularVelocity() [2/2]

◆ axisOfRotation()

◆ conjugate()

◆ i()

◆ identity()

◆ inverse()

◆ j()

◆ k()

◆ nlerp() [1/2]

◆ nlerp() [2/2]

◆ operator!=()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator==()

◆ pitch()

◆ pitchRotation()

◆ print()

◆ roll()

◆ rollRotation()

◆ rotate() [1/2]

◆ rotate() [2/2]

◆ s()

◆ slerp() [1/2]

◆ slerp() [2/2]

◆ str()

◆ toDCM()

◆ toNdArray()

◆ xRotation()

◆ yaw()

◆ yawRotation()

◆ yRotation()

◆ zRotation()

Friends And Related Function Documentation

◆ operator<<