quaternion.h File Reference

#include <boost/math/quaternion.hpp>
#include <boost/serialization/split_free.hpp>
#include "common.h"
#include "random.h"

Include dependency graph for quaternion.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces
namespace	boost
namespace	boost::serialization

Typedefs
typedef boost::math::quaternion< fl >	qt

Functions
bool	quaternion_is_normalized (const qt &q)
template<class Archive >
void	boost::serialization::save (Archive &ar, const qt &q, const unsigned version)
template<typename Archive >
void	boost::serialization::load (Archive &ar, qt &q, const unsigned version)
bool	eq (const qt &a, const qt &b)
const qt	qt_identity (1, 0, 0, 0)
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)
fl	quaternion_norm_sqr (const qt &q)
void	quaternion_normalize (qt &q)
void	quaternion_normalize_approx (qt &q, const fl tolerance=1e-6)
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=std::cout)

Typedef Documentation

typedef boost::math::quaternion<fl> qt

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().

Here is the call graph for this function:

Here is the caller graph for this function:

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

References eq().

Here is the call graph for this function:

const qt qt_identity	(	1	,
		0	,
		0	,
		0
	)

Referenced by angle_to_quaternion(), conf::generate_internal(), segment::segment(), and rigid_conf::set_to_null().

Here is the caller graph for this function:

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().

Here is the call graph for this function:

Here is the caller graph for this function:

qt angle_to_quaternion

(

const vec &

rotation

)

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

Here is the call graph for this function:

vec quaternion_to_angle

(

const qt &

q

)

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

Referenced by print(), and quaternion_difference().

Here is the call graph for this function:

Here is the caller graph for this function:

mat quaternion_to_r3

(

const qt &

q

)

References eq(), and quaternion_is_normalized().

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

Here is the call graph for this function:

Here is the caller graph for this function:

fl quaternion_norm_sqr ( const qt &  q )

inline

References sqr().

Referenced by quaternion_is_normalized(), quaternion_normalize(), and quaternion_normalize_approx().

Here is the call graph for this function:

Here is the caller graph for this function:

void quaternion_normalize ( qt &  q )

inline

References epsilon_fl, eq(), quaternion_is_normalized(), quaternion_norm_sqr(), and sqr().

Here is the call graph for this function:

void quaternion_normalize_approx ( qt &  q, const fl  tolerance = 1e-6  )

inline

References epsilon_fl, eq(), quaternion_is_normalized(), quaternion_norm_sqr(), and sqr().

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

Here is the call graph for this function:

Here is the caller graph for this function:

qt random_orientation

(

rng &

generator

)

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

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

Here is the call graph for this function:

Here is the caller graph for this function:

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().

Here is the call graph for this function:

Here is the caller graph for this function:

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

References quaternion_is_normalized(), and quaternion_to_angle().

Referenced by rigid_conf::too_close().

Here is the call graph for this function:

Here is the caller graph for this function:

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

References print(), and quaternion_to_angle().

Here is the call graph for this function: