quaternion.cpp File Reference

#include "quaternion.h"

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Functions
bool	quaternion_is_normalized (const qt &q)
bool	eq (const qt &a, const qt &b)
qt	angle_to_quaternion (const vec &axis, fl angle)
qt	angle_to_quaternion (const vec &rotation)
vec	quaternion_to_angle (const qt &q)
mat	quaternion_to_r3 (const qt &q)
qt	random_orientation (rng &generator)
void	quaternion_increment (qt &q, const vec &rotation)
vec	quaternion_difference (const qt &b, const qt &a)
void	print (const qt &q, std::ostream &out)

Function Documentation

bool quaternion_is_normalized

(

const qt &

q

)

References eq(), and quaternion_norm_sqr().

Referenced by quaternion_difference(), quaternion_increment(), quaternion_normalize(), quaternion_normalize_approx(), quaternion_to_angle(), quaternion_to_r3(), and random_orientation().

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bool eq	(	const qt &	a,
		const qt &	b
	)

References eq().

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qt angle_to_quaternion	(	const vec &	axis,
		fl	angle
	)

References eq(), vec::norm(), and normalize_angle().

Referenced by angle_to_quaternion(), quaternion_increment(), segment::set_conf(), and first_segment::set_conf().

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qt angle_to_quaternion

(

const vec &

rotation

)

References angle_to_quaternion(), epsilon_fl, vec::norm(), and qt_identity().

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vec quaternion_to_angle

(

const qt &

q

)

References epsilon_fl, pi, quaternion_is_normalized(), and zero_vec().

Referenced by print(), and quaternion_difference().

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mat quaternion_to_r3

(

const qt &

q

)

References eq(), and quaternion_is_normalized().

Referenced by rigid_conf::apply(), and frame::set_orientation().

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qt random_orientation

(

rng &

generator

)

References epsilon_fl, quaternion_is_normalized(), random_normal(), and random_orientation().

Referenced by random_orientation(), and rigid_conf::randomize().

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void quaternion_increment	(	qt &	q,
		const vec &	rotation
	)

References angle_to_quaternion(), quaternion_is_normalized(), and quaternion_normalize_approx().

Referenced by rigid_conf::increment(), mutate_conf(), and rigid_conf::mutate_orientation().

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vec quaternion_difference	(	const qt &	b,
		const qt &	a
	)

References quaternion_is_normalized(), and quaternion_to_angle().

Referenced by rigid_conf::too_close().

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void print	(	const qt &	q,
		std::ostream &	out
	)

References print(), and quaternion_to_angle().

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