CSIBCQuaternion Class Reference

Generic class representing quaternions. More...

#include <SIBCQuaternion.h>

List of all members.

Public Member Functions
  CSIBCQuaternion ()
  CSIBCQuaternion (const CSIBCQuaternion &in_quat)
SI_Error  Init ()
SI_Error  Init (CSIBCQuaternion &in_quat)
SI_Error  Init (SI_Float in_dX, SI_Float in_dY, SI_Float in_dZ, SI_Float in_dW)
SI_Error  Init (SI_Float in_dX, SI_Float in_dY, SI_Float in_dZ)
SI_Float  GetX () const
SI_Float  GetY () const
SI_Float  GetZ () const
SI_Float  GetW () const
SI_Error  SetX (SI_Float in_dX)
SI_Error  SetY (SI_Float in_dY)
SI_Error  SetZ (SI_Float in_dZ)
SI_Error  SetW (SI_Float in_dW)
SI_Error  GetMatrix (CSIBCMatrix4x4 &out_mat)
SI_Error  GetXYZRotation (CSIBCVector3D &out_vect)
SI_Error  GetXYZRotation (SI_Float in_dX, SI_Float in_dY, SI_Float in_dZ, CSIBCVector3D &out_vect)
SI_Error  GetAxisAngle (CSIBCVector3D &out_vAxis, float &out_fAngle)
SI_Error  Set (SI_Float in_dX, SI_Float in_dY, SI_Float in_dZ, SI_Float in_dW)
void  operator= (const CSIBCQuaternion &in_quat)
SI_Error  SelfTest ()

Detailed Description

Generic class representing quaternions.

The notation used in this quaternion class (W, X, Y, Z) makes the quaternions closely related to 4D vectors (See CSIBCVector4D). In general, the quaternion can be thought of as a scalar plus a vector, where the W component is the vector, and X, Y and Z are the coefficients of the I, J and K matricies respectively.

The components of the CSIBCQuaternion class are represented by single precision floating-point numbers. Its corresponding double precision class, CSIBCQuaterniond, has much more functionality, such as the ability to interpolate and multiply quaternions.

Constructor & Destructor Documentation

CSIBCQuaternion (  )  [inline]

Default Constructor. Sets all components of the quaternion to zero, except W, which is set to one.

See also:
CSIBCQuaternion::Init()

CSIBCQuaternion ( const CSIBCQuaternion &  in_quat  )  [inline]

Copy Copnstructor. Copies the data from in_quat to the new quaternion.

Parameters:
in_quat  Quaternion containing data to copy to this quaternion.
See also:
CSIBCQuaternion::operator=

CSIBCQuaternion::Init(CSIBCQuaternion &)

Member Function Documentation

SI_Error Init (  )  [inline]

Initializes the quaternion components values all to zero, except W, which is set to one.

Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly initialized.

See also:
CSIBCQuaternion::CSIBCQuaternion()

CSIBCQuaternion::Init

SI_Error Init ( CSIBCQuaternion &  in_quat  ) 

Initializes the quaternion component values to those of in_quat.

Parameters:
in_quat  The quaternion from which to copy initialization values.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly initialized.

See also:
CSIBCQuaternion::CSIBCQuaternion(CSIBCQuaternion &)

CSIBCQuaternion::Init

SI_Error Init ( SI_Float  in_dX,
SI_Float  in_dY,
SI_Float  in_dZ,
SI_Float  in_dW  
)

Initializes the quaternion components values to the values given.

Parameters:
in_dX  The new value for the X component of the quaternion.
in_dY  The new value for the Y component of the quaternion.
in_dZ  The new value for the Z component of the quaternion.
in_dW  The new value for the W component of the quaternion.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly initialized.

See also:
CSIBCQuaternion::Init

CSIBCQuaternion::Set

SI_Error Init ( SI_Float  in_dX,
SI_Float  in_dY,
SI_Float  in_dZ  
)

Initializes the quaternion to the quaternion represented by the euler rotations given by the euler angles (pitch-roll-yaw) of the parameters.

Parameters:
in_dX  Value for the pitch euler angle, for the quaternion value.
in_dY  Value for the roll euler angle, for the quaternion value.
in_dZ  Value for the yaw euler angle, for the quaternion value.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly initialized.

See also:
CSIBCQuaternion::Init

SI_Float GetX (  )  const [inline]

Gets the X component of the quaternion.

Returns:
SI_Float The X component of the quaternion.
See also:
CSIBCQuaternion::GetY

CSIBCQuaternion::GetZ

CSIBCQuaternion::GetW

CSIBCQuaternion::SetX

SI_Float GetY (  )  const [inline]

Gets the Y component of the quaternion.

Returns:
SI_Float The Y component of the quaternion.
See also:
CSIBCQuaternion::GetX

CSIBCQuaternion::GetZ

CSIBCQuaternion::GetW

CSIBCQuaternion::SetY

SI_Float GetZ (  )  const [inline]

Gets the Z component of the quaternion.

Returns:
SI_Float The Z component of the quaternion.
See also:
CSIBCQuaternion::GetX

CSIBCQuaternion::GetY

CSIBCQuaternion::GetW

CSIBCQuaternion::SetZ

SI_Float GetW (  )  const [inline]

Gets the W component of the quaternion.

Returns:
SI_Float The W component of the quaternion.
See also:
CSIBCQuaternion::GetX

CSIBCQuaternion::GetY

CSIBCQuaternion::GetZ

CSIBCQuaternion::SetW

SI_Error SetX ( SI_Float  in_dX  )  [inline]

Sets the X component of the quaternion.

Parameters:
in_dX  The new values for the X component of the quaternion.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly set.

See also:
CSIBCQuaternion::Set

CSIBCQuaternion::SetY

CSIBCQuaternion::SetZ

CSIBCQuaternion::SetW

CSIBCQuaternion::GetX

SI_Error SetY ( SI_Float  in_dY  )  [inline]

Sets the Y component of the quaternion.

Parameters:
in_dY  The new values for the Y component of the quaternion.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly set.

See also:
CSIBCQuaternion::Set

CSIBCQuaternion::SetX

CSIBCQuaternion::SetZ

CSIBCQuaternion::SetW

CSIBCQuaternion::GetY

SI_Error SetZ ( SI_Float  in_dZ  )  [inline]

Sets the Z component of the quaternion.

Parameters:
in_dZ  The new values for the Z component of the quaternion.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly set.

See also:
CSIBCQuaternion::Set

CSIBCQuaternion::SetX

CSIBCQuaternion::SetY

CSIBCQuaternion::SetW

CSIBCQuaternion::GetZ

SI_Error SetW ( SI_Float  in_dW  )  [inline]

Sets the W component of the quaternion.

Parameters:
in_dW  The new values for the W component of the quaternion.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly set.

See also:
CSIBCQuaternion::Set

CSIBCQuaternion::SetX

CSIBCQuaternion::SetY

CSIBCQuaternion::SetZ

CSIBCQuaternion::GetW

SI_Error GetMatrix ( CSIBCMatrix4x4 &  out_mat  ) 

Returns the rotation matrix corresponding to this quaternion. The quaternion must be a unit quaternion for this operation to succeed.

Parameters:
out_mat  Reference to the matrix object to receive the rotation matrix.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly converted. SI_ERR_ERROR_MSG - The quaternion was not a unit quaternion.

See also:
CSIBCQuaternion::GetXYZRotation

CSIBCQuaternion::GetAxisAngle

SI_Error GetXYZRotation ( CSIBCVector3D &  out_vect  )  [inline]

Returns the euler rotation angles (pitch-roll-yaw) represented by this quaternion.

Parameters:
out_vect  Vector to receive the euler rotation angles.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly converted.

See also:
CSIBCQuaternion::GetMatrix

CSIBCQuaternion::GetAxisAngle

SI_Error GetXYZRotation ( SI_Float  in_dX,
SI_Float  in_dY,
SI_Float  in_dZ,
CSIBCVector3D &  out_vect  
)

Returns the euler rotation angles (pitch-roll-yaw) represented by this quaternion.

Parameters:
out_vect  Vector to receive the euler rotation angles.
in_dX  Ignored.
in_dY  Ignored.
in_dZ  Ignored.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly converted.

See also:
CSIBCQuaternion::GetMatrix

CSIBCQuaternion::GetAxisAngle

SI_Error GetAxisAngle ( CSIBCVector3D &  out_vAxis,
float &  out_fAngle  
)

Gets the axis of rotation, and rotation angle about the axis, that is represented by this quaternion.

Parameters:
out_vAxis  Receives the axis of rotation.
out_fAngle  Receives the angle of rotation about the axis (in radians).
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly converted. SI_ERR_ERROR_MSG - The quaternion could not be converted, axis components and angle are all zero.

See also:
CSIBCQuaternion::GetXYZRotation

SI_Error Set ( SI_Float  in_dX,
SI_Float  in_dY,
SI_Float  in_dZ,
SI_Float  in_dW  
) [inline]

Sets all components of the quaternion.

Parameters:
in_dX  Value for the X component of the quaternion.
in_dY  Value for the Y component of the quaternion.
in_dZ  Value for the Z component of the quaternion.
in_dW  Value for the W component of the quaternion.
Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion was properly set.

See also:
CSIBCQuaternion::SetX

CSIBCQuaternion::SetY

CSIBCQuaternion::SetZ

CSIBCQuaternion::SetW

void operator= ( const CSIBCQuaternion &  in_quat  )  [inline]

Sets this quaternion equal to in_quat.

Parameters:
in_quat  Quaternion to set this quaternion equal to.
See also:
CSIBCQuaternion::Init(CSIBCQuaternion &)

SI_Error SelfTest (  )  [inline]

Tests to see whether this quaternion is valid. If the quaternion is invalid, an assertion will occur.

Returns:
SI_Error Error code indicating the success or failure of this command.
returns: SI_SUCCESS - The quaternion is valid.

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