imunano33::Quaternion Class Reference

A simple quaternion class for rotations. More...

#include <quaternion.hpp>

Public Member Functions
	Quaternion ()
	Default constructor. More...
	Quaternion (const num_t w, const Vector3D &vec)
	Constructor for a basic quaternion. More...
	Quaternion (const Vector3D &vec, const num_t ang)
	Constructor for a rotation quaternion. More...
	Quaternion (const Quaternion &other)=default
	Copy constructor. More...
Quaternion &	operator= (const Quaternion &other)=default
	Assignment operator.
	~Quaternion ()=default
	Destructor.
	Quaternion (Quaternion &&)=default
	Move constructor.
Quaternion &	operator= (Quaternion &&)=default
	Move assignment.
num_t	w () const
	Gets the scalar component of the quaternion. More...
Vector3D	vec () const
	Gets the vector component of the quaternion. More...
Quaternion	conj () const
	Gets the quaternion conjugate. More...
Quaternion	inv () const
	Gets quaternion inverse. More...
num_t	norm () const
	Gets quaternion norm. More...
Quaternion	unit () const
	Gets equivalent unit quaternion. More...
Quaternion &	operator*= (const Quaternion &other)
	Multiplies a quaternion in place. More...
Vector3D	rotate (const Vector3D &vec) const
	Rotates a vector with current quaternion object. More...

Static Public Member Functions
static Vector3D	rotate (const Vector3D &vec, const Vector3D &axis, num_t ang)
	Rotates a vector. More...

Detailed Description

A simple quaternion class for rotations.

The quaternion operations and math are mainly based on this paper: https://jerabaul29.github.io/assets/quaternions/quaternions.pdf

Constructor & Destructor Documentation

Quaternion() [1/4]

imunano33::Quaternion::Quaternion ( )

inline

Default constructor.

Initializes quaternion to [1, 0, 0, 0]

Quaternion() [2/4]

imunano33::Quaternion::Quaternion ( const num_t  w, const Vector3D &  vec  )

inline

Constructor for a basic quaternion.

Parameters

w	The scalar component
vec	The vector component

Quaternion() [3/4]

imunano33::Quaternion::Quaternion ( const Vector3D &  vec, const num_t  ang  )

inline

Constructor for a rotation quaternion.

Parameters

vec	The vector to rotate around
ang	The angle to rotate around by

Note

A zero vector passed into vec will result in undefined behavior

Quaternion() [4/4]

imunano33::Quaternion::Quaternion ( const Quaternion &  other )

default

Copy constructor.

Parameters

other

Other quaternion

Member Function Documentation

conj()

Quaternion imunano33::Quaternion::conj ( ) const

inline

Gets the quaternion conjugate.

Returns

The quaternion conjugate

inv()

Quaternion imunano33::Quaternion::inv ( ) const

inline

Gets quaternion inverse.

Returns

Quaternion inverse

norm()

num_t imunano33::Quaternion::norm ( ) const

inline

Gets quaternion norm.

This behaves the same as a "magnitude" in 4-dimensional vector terms.

Returns

Quaternion norm

operator*=()

Quaternion & imunano33::Quaternion::operator*= ( const Quaternion &  other )

inline

Multiplies a quaternion in place.

Parameters

other

quaternion

Returns

Quaternion multiplied in place

rotate() [1/2]

Vector3D imunano33::Quaternion::rotate ( const Vector3D &  vec ) const

inline

Rotates a vector with current quaternion object.

Parameters

vec	The vector to rotate

Returns

The rotated vector.

rotate() [2/2]

Vector3D imunano33::Quaternion::rotate ( const Vector3D &  vec, const Vector3D &  axis, num_t  ang  )

inlinestatic

Rotates a vector.

Parameters

vec	The vector to rotate
axis	The axis of rotation
ang	Angle of rotation

Returns

The rotated vector.

unit()

Quaternion imunano33::Quaternion::unit ( ) const

inline

Gets equivalent unit quaternion.

This behaves the same as a "normalized" 4-dimensional vector.

Note

If the quaternion is zero, then results in undefined behavior.

Returns

Equivalent unit quaternion

vec()

Vector3D imunano33::Quaternion::vec ( ) const

inline

Gets the vector component of the quaternion.

Returns

The vector component

w()

num_t imunano33::Quaternion::w ( ) const

inline

Gets the scalar component of the quaternion.

Returns

The scalar component

---

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

• /home/runner/work/imunano33/imunano33/include/imunano33/quaternion.hpp