Spr::TQuaternion< ET > Class Template Reference

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#include <TQuaternion.h>

Inherits PTM::TVectorBase<(4), TVecDesc< TQuaternion< ET >, ET > >.

Collaboration diagram for Spr::TQuaternion< ET >:

[legend]List of all members.

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• void set_default ()
• TQuaternion (element_type wi, element_type xi, element_type yi, element_type zi)

Public Types

• typedef TQuaternion this_type
• typedef PTM::TSubVector<
  3, desc > vector_type

Public Member Functions

• ET & item_impl (size_t i)
• const ET & item_impl (size_t i) const
• size_t stride_impl () const
• void conjugate ()
• TQuaternion inv () const
• template<class AM> void from_matrix (const AM &m)
• template<class ET> void to_eular (TVec3< ET > &v)
• void rotation_arc (const TVec3< ET > &lhs, const TVec3< ET > &rhs)
• void euler (ET yaw, ET pitch, ET roll)

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• const element_type & W () const
• const element_type & X () const
• const element_type & Y () const
• const element_type & Z () const
• element_type & W ()
• element_type & X ()
• element_type & Y ()
• element_type & Z ()
• TVec3< ET > rotation_half ()
• TVec3< ET > rotation ()
• TVec3< ET > axis ()
• ET theta ()

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Detailed Description

template<class ET>
class Spr::TQuaternion< ET >

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‚»‚Ì‚¤‚¿“ü‚ꂽ‚¢�CƒIƒCƒ‰�[Šp‚Ö‚Ì•ÏŠ·�D heading = atan2(2*qy*qw-2*qx*qz , 1 - 2*qy2 - 2*qz2) attitude = asin(2*qx*qy + 2*qz*qw) bank = atan2(2*qx*qw-2*qy*qz , 1 - 2*qx2 - 2*qz2)

except when qx*qy + qz*qw = 0.5 (north pole) which gives: heading = 2 * atan2(x,w) bank = 0 and when qx*qy + qz*qw = -0.5 (south pole) which gives: heading = -2 * atan2(x,w) bank = 0

Definition at line 28 of file TQuaternion.h.

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Member Typedef Documentation

template<class ET> typedef TQuaternion Spr::TQuaternion< ET >::this_type

Œp�³‚³‚ê‚È‚¢Šî–{“I‚ȃ�ƒ“ƒo‚Ì’è‹`. ::DEF_TVECTOR_BASIC_MEMBER Definition at line 33 of file TQuaternion.h.

template<class ET> typedef PTM::TSubVector<3, desc> Spr::TQuaternion< ET >::vector_type

3ŽŸŒ³‚Ì•”•ªƒxƒNƒgƒ‹ Definition at line 48 of file TQuaternion.h.

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Constructor & Destructor Documentation

template<class ET> Spr::TQuaternion< ET >::TQuaternion (  element_type  wi, element_type  xi, element_type  yi, element_type  zi )  [inline]

ƒRƒ“ƒXƒgƒ‰ƒNƒ^ Definition at line 127 of file TQuaternion.h.

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Member Function Documentation

template<class ET> ET& Spr::TQuaternion< ET >::item_impl (  size_t  i  )  [inline]

—v‘f‚̃AƒNƒZƒX Definition at line 41 of file TQuaternion.h.

template<class ET> const ET& Spr::TQuaternion< ET >::item_impl (  size_t  i  )  const [inline]

—v‘f‚̃AƒNƒZƒX Definition at line 43 of file TQuaternion.h.

template<class ET> size_t Spr::TQuaternion< ET >::stride_impl (   )  const [inline]

ƒXƒgƒ‰ƒCƒh Definition at line 45 of file TQuaternion.h.

template<class ET> const element_type& Spr::TQuaternion< ET >::W (   )  const [inline]

w�¬•ª Definition at line 52 of file TQuaternion.h. Referenced by Spr::dot(), Spr::TQuaternion< float >::euler(), Spr::TQuaternion< float >::from_matrix(), Spr::operator *(), Spr::TQuaternion< float >::rotation(), Spr::TQuaternion< float >::rotation_arc(), Spr::TQuaternion< float >::rotation_half(), Spr::TQuaternion< float >::set_default(), Spr::TQuaternion< float >::theta(), Spr::TQuaternion< float >::to_eular(), and Spr::TQuaternion< float >::TQuaternion().

template<class ET> const element_type& Spr::TQuaternion< ET >::X (   )  const [inline]

x�¬•ª Definition at line 54 of file TQuaternion.h. Referenced by Spr::dot(), Spr::TQuaternion< float >::euler(), Spr::TQuaternion< float >::from_matrix(), Spr::operator *(), Spr::TQuaternion< float >::set_default(), Spr::TQuaternion< float >::to_eular(), and Spr::TQuaternion< float >::TQuaternion().

template<class ET> const element_type& Spr::TQuaternion< ET >::Y (   )  const [inline]

y�¬•ª Definition at line 56 of file TQuaternion.h. Referenced by Spr::dot(), Spr::TQuaternion< float >::euler(), Spr::TQuaternion< float >::from_matrix(), Spr::operator *(), Spr::TQuaternion< float >::set_default(), Spr::TQuaternion< float >::to_eular(), and Spr::TQuaternion< float >::TQuaternion().

template<class ET> const element_type& Spr::TQuaternion< ET >::Z (   )  const [inline]

z�¬•ª Definition at line 58 of file TQuaternion.h. Referenced by Spr::dot(), Spr::TQuaternion< float >::euler(), Spr::TQuaternion< float >::from_matrix(), Spr::operator *(), Spr::TQuaternion< float >::set_default(), Spr::TQuaternion< float >::to_eular(), and Spr::TQuaternion< float >::TQuaternion().

template<class ET> element_type& Spr::TQuaternion< ET >::W (   )  [inline]

z�¬•ª Definition at line 63 of file TQuaternion.h.

template<class ET> element_type& Spr::TQuaternion< ET >::X (   )  [inline]

x�¬•ª Definition at line 65 of file TQuaternion.h.

template<class ET> element_type& Spr::TQuaternion< ET >::Y (   )  [inline]

y�¬•ª Definition at line 67 of file TQuaternion.h.

template<class ET> element_type& Spr::TQuaternion< ET >::Z (   )  [inline]

z�¬•ª Definition at line 69 of file TQuaternion.h.

template<class ET> TVec3<ET> Spr::TQuaternion< ET >::rotation_half (   )  [inline]

‰ñ“]ƒxƒNƒgƒ‹�D0..PI‚͈̔͂ʼnñ“]ƒxƒNƒgƒ‹‚ð•Ô‚·�D Definition at line 73 of file TQuaternion.h.

template<class ET> TVec3<ET> Spr::TQuaternion< ET >::rotation (   )  [inline]

‰ñ“]ƒxƒNƒgƒ‹2�D 0..2PI‚͈̔͂ʼnñ“]ƒxƒNƒgƒ‹‚ð•Ô‚·�D angle ‚©‚çŠÖ�”–¼•Ï�X Definition at line 89 of file TQuaternion.h. Referenced by Spr::PHJointBall::GetJointPosition().

template<class ET> TVec3<ET> Spr::TQuaternion< ET >::axis (   )  [inline]

‰ñ“]Ž² Definition at line 105 of file TQuaternion.h.

template<class ET> ET Spr::TQuaternion< ET >::theta (   )  [inline]

‰ñ“]Šp“x (angle‚ÉŠÖ�”–¼‚ð•Ï�X‚·‚é—\’è) Definition at line 116 of file TQuaternion.h.

template<class ET> void Spr::TQuaternion< ET >::set_default (   )  [inline]

ƒRƒ“ƒXƒgƒ‰ƒNƒ^ Reimplemented from PTM::VectorImp< TVecDesc< TQuaternion< ET >, ET > >. Definition at line 124 of file TQuaternion.h.

template<class ET> void Spr::TQuaternion< ET >::conjugate (   )  [inline]

‹¤–ð Definition at line 154 of file TQuaternion.h.

template<class ET> TQuaternion Spr::TQuaternion< ET >::inv (   )  const [inline]

‹t Definition at line 158 of file TQuaternion.h.

template<class ET> template<class AM> void Spr::TQuaternion< ET >::from_matrix (  const AM &  m  )  [inline]

‰ñ“]�s—ñ•ÏŠ· Definition at line 161 of file TQuaternion.h. Referenced by Spr::PHSolid::SetRotation().

template<class ET> template<class ET> void Spr::TQuaternion< ET >::to_eular (  TVec3< ET > &  v  )  [inline]

ƒIƒCƒ‰�[Šp‚Ö•ÏŠ· Definition at line 205 of file TQuaternion.h.

template<class ET> void Spr::TQuaternion< ET >::rotation_arc (  const TVec3< ET > &  lhs, const TVec3< ET > &  rhs )  [inline]

lhs‚ð‰ñ“]‚µ‚Ärhs‚Ɉê’v‚³‚¹‚éƒNƒEƒH�[ƒ^ƒjƒIƒ“ Definition at line 241 of file TQuaternion.h.

template<class ET> void Spr::TQuaternion< ET >::euler (  ET  yaw, ET  pitch, ET  roll )  [inline]

ƒIƒCƒ‰�[Šp‚ÅŽw’è Definition at line 255 of file TQuaternion.h.

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

• TQuaternion.h

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