piquaternion.h File Reference

Quaternion. More...

#include "pimathmatrix.h"

Classes
class	PIQuaternion
	Quaternion for representing 3D rotations and orientations. More...

Functions
PIQuaternion	operator* (const double &a, const PIQuaternion &q)
	Scalar multiplication with quaternion.
PIQuaternion	operator* (const PIQuaternion &q0, const PIQuaternion &q1)
	Quaternion multiplication. More...
PIQuaternion	operator+ (const PIQuaternion &q0, const PIQuaternion &q1)
	Quaternion addition. More...
PIQuaternion	operator- (const PIQuaternion &q0, const PIQuaternion &q1)
	Quaternion subtraction. More...
PIQuaternion	operator- (const PIQuaternion &q0)
	Quaternion negation. More...

Detailed Description

Quaternion.

Function Documentation

operator*()

PIQuaternion operator*	(	const PIQuaternion &	q0,
		const PIQuaternion &	q1
	)

Quaternion multiplication.

Performs quaternion multiplication (Hamilton product)

See also

operator+(const PIQuaternion &, const PIQuaternion &)

operator-(const PIQuaternion &, const PIQuaternion &)

operator+()

PIQuaternion operator+ ( const PIQuaternion &  q0, const PIQuaternion &  q1  )

inline

Quaternion addition.

Adds corresponding components of two quaternions

See also

operator*(const PIQuaternion &, const PIQuaternion &)

operator-(const PIQuaternion &, const PIQuaternion &)

operator-() [1/2]

PIQuaternion operator- ( const PIQuaternion &  q0, const PIQuaternion &  q1  )

inline

Quaternion subtraction.

Subtracts corresponding components of two quaternions

See also

operator*(const PIQuaternion &, const PIQuaternion &)

operator+(const PIQuaternion &, const PIQuaternion &)

operator-() [2/2]

PIQuaternion operator- ( const PIQuaternion &  q0 )

inline

Quaternion negation.

Negates both vector and scalar parts of the quaternion

See also

conjugate()