PIQuaternion Class Reference

Quaternion for representing 3D rotations and orientations. More...

#include <piquaternion.h>

Public Member Functions
	PIQuaternion (const PIMathVectorT3d &u=PIMathVectorT3d(), double a=0.)
	Construct quaternion from rotation axis and angle.
PIQuaternion	conjugate () const
	Returns conjugate of this quaternion (negated vector part)
PIQuaternion	rotated (const PIMathVectorT3d &u, double a) const
	Returns new quaternion rotated around axis u by angle a.
void	rotate (const PIMathVectorT3d &u, double a)
	Rotate this quaternion around axis u by angle a.
void	normalize ()
	Normalize quaternion to unit length.
double &	scalar ()
	Get/Set scalar component.
double	scalar () const
	Get scalar component.
PIMathVectorT3d	vector () const
	Returns vector part of quaternion.
PIMathVectorT3d	eyler () const
	Returns Euler angles from quaternion.
PIMathMatrixT33d	rotationMatrix () const
	Returns 3x3 rotation matrix from quaternion.
void	axis (PIMathVectorT3d *ret) const
	Extracts rotation axis from quaternion.

Static Public Member Functions
static PIQuaternion	fromEyler (double ax, double ay, double az)
	Create quaternion from Euler angles (roll, pitch, yaw)
static PIQuaternion	fromRotationMatrix (const PIMathMatrixT33d &m)
	Create quaternion from 3x3 rotation matrix.
static PIQuaternion	fromAngles (double ax, double ay, double az)
	Create quaternion from rotation angles.
static PIQuaternion	fromAngles2 (double ax, double ay, double az)
	Create quaternion from rotation angles (alternative method)

Detailed Description

Quaternion for representing 3D rotations and orientations.