A minimal quaternion class. More...

#include <VecMath.h>

Public Member Functions
	Quaternion ()
	Initializes the quaternion to the identity rotation.

	Quaternion (T x_in, T y_in, T z_in, T w_in)
	Initializes the quaternion from the passed-in values.

	Quaternion (const Vector3< T > &v_in, T w_in)
	Initializes the quaternion from vector and scalar components. More...

template<typename T2 >
Quaternion< T2 >	cast ()
	Convert to a vector with a different base type.

Quaternion< T >	conjugate () const
	Computes and returns the quaternion conjugate. More...

Vector3< T >	rotate (const Vector3< T > &v) const
	Rotates the passed-in vector by the rotation represented by this quaternion.

void	normalize ()
	Normalizes this quaternion.

Quaternion< T >	normalized () const
	Returns a normalized version of this quaternion.

bool	operator== (const Quaternion< T > &rhs) const
	Tests for equality (no floating point slop).

bool	operator!= (const Quaternion< T > &rhs) const
	Tests for inequality (no floating point slop).

Static Public Member Functions
static Quaternion< T >	fromAxisAngle (const Vector3< T > axis, const T angle)

Detailed Description

A minimal quaternion class.

We have provided this simple Quaternion class to avoid a dependence on an external math library (like Eigen).

Constructor & Destructor Documentation

template<typename T>

HandTrackingClient::Quaternion< T >::Quaternion	(	const Vector3< T > &	v_in,
		T	w_in
	)

inline

Initializes the quaternion from vector and scalar components.

Note that this is not the same as initializing with an axis-angle pair (see Quaternionf::fromAxisAngle).

Parameters

v_in	Vector part.
w_in	Scalar part.

template<typename T >

Quaternion< T > HandTrackingClient::Quaternion< T >::conjugate ( ) const

Computes and returns the quaternion conjugate.

For normalized quaternions (which represent rotations), the conjugate represents the inverse rotation.

template<typename T>

Quaternion< T > HandTrackingClient::Quaternion< T >::fromAxisAngle	(	const Vector3< T >	axis,
		const T	angle
	)

static

Initializes the quaternion with the passed-in axis/angle pair.

Parameters

axis	Rotation axis, must be normalized.
angle	Angle in radians.

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