mitkQuaternion Class Reference

mitkQuaternion - it's used to implement 3d rotation More...

#include <mitkQuaternion.h>

List of all members.

Public Member Functions
	mitkQuaternion ()
	mitkQuaternion (const float x, const float y, const float z, const float w)
	mitkQuaternion (const float x, const float y, const float z)
mitkQuaternion &	operator= (const mitkQuaternion &q)
	mitkQuaternion (const mitkQuaternion &q)
void	Identity (void)
void	Normalize (void)
void	GetValues (float &x, float &y, float &z, float &w) const
void	AxisRadToQuat (const float ax, const float ay, const float az, const float angle)
void	AxisDegToQuat (const float ax, const float ay, const float az, const float angle)
void	GetAxisRad (float &ax, float &ay, float &az, float &angle) const
void	GetAxisDeg (float &ax, float &ay, float &az, float &angle) const
void	EulerRadToQuat (const float xr, const float yr, const float zr)
void	EulerDegToQuat (const float xd, const float yd, const float zd)
void	GetEulerRad (float &xr, float &yr, float &zr) const
void	GetEulerDeg (float &xd, float &yd, float &zd) const
void	BuildMatrix (mitkMatrix &mat) const
Friends
mitkQuaternion	operator * (const mitkQuaternion &p, const mitkQuaternion &q)

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Detailed Description

mitkQuaternion - it's used to implement 3d rotation

mitkQuaternion is used to implement 3d rotation

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Constructor & Destructor Documentation

mitkQuaternion::mitkQuaternion (   )

Default constructor. Construct a quaternion with zero rotation.

mitkQuaternion::mitkQuaternion (  const float  x, const float  y, const float  z, const float  w )

Construct a quaternion from given values. Quat will be normalized. Will perform a valid check.

mitkQuaternion::mitkQuaternion (  const float  x, const float  y, const float  z )

Construct a quaternion from euler angles in degrees. Parameters: x  rotation around x-axis in degrees y  rotation around y-axis in degrees z  rotation around z-axis in degrees

mitkQuaternion::mitkQuaternion (  const mitkQuaternion &  q  )  [inline]

Copy constructor.

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Member Function Documentation

void mitkQuaternion::AxisDegToQuat (  const float  ax, const float  ay, const float  az, const float  angle )

Convert an axis angle to quaternion, angle is in degrees. Parameters: ax  the x-coordinate of rotation axis ay  the y-coordinate of rotation axis az  the z-coordinate of rotation axis angle  the angle of rotation in degrees

void mitkQuaternion::AxisRadToQuat (  const float  ax, const float  ay, const float  az, const float  angle )

Convert an axis angle to quaternion, angle is in radians. Parameters: ax  the x-coordinate of rotation axis ay  the y-coordinate of rotation axis az  the z-coordinate of rotation axis angle  the angle of rotation in radians

void mitkQuaternion::BuildMatrix (  mitkMatrix &  mat  )  const

Get the 4x4 rotation matrix representation of this quaternion. Parameters: mat  return the rotation matrix.

void mitkQuaternion::EulerDegToQuat (  const float  xd, const float  yd, const float  zd )

Convert euler angles to quaternion, euler angles are in degrees. Parameters: xd  rotation around x-axis in degrees yd  rotation around y-axis in degrees zd  rotation around z-axis in degrees

void mitkQuaternion::EulerRadToQuat (  const float  xr, const float  yr, const float  zr )

Convert euler angles to quaternion, euler angles are in radians. Parameters: xr  rotation around x-axis in radians yr  rotation around y-axis in radians zr  rotation around z-axis in radians

void mitkQuaternion::GetAxisDeg (  float &  ax, float &  ay, float &  az, float &  angle )  const

Get an axis angle from this quaternion, angle is returned in degrees. Parameters: ax  return the x-coordinate of rotation axis ay  return the y-coordinate of rotation axis az  return the z-coordinate of rotation axis angle  return the angle of rotation in degrees

void mitkQuaternion::GetAxisRad (  float &  ax, float &  ay, float &  az, float &  angle )  const

Get an axis angle from this quaternion, angle is returned in radians. Parameters: ax  return the x-coordinate of rotation axis ay  return the y-coordinate of rotation axis az  return the z-coordinate of rotation axis angle  return the angle of rotation in radians

void mitkQuaternion::GetEulerDeg (  float &  xd, float &  yd, float &  zd )  const

Get euler angles from this quaternion, angle is returned in degrees. Parameters: xd  return the rotation around x-axis in degrees yd  return the rotation around y-axis in degrees zd  return the rotation around z-axis in degrees

void mitkQuaternion::GetEulerRad (  float &  xr, float &  yr, float &  zr )  const

Get euler angles from this quaternion, angle is returned in radians. Parameters: xr  return the rotation around x-axis in radians yr  return the rotation around y-axis in radians zr  return the rotation around z-axis in radians

void mitkQuaternion::GetValues (  float &  x, float &  y, float &  z, float &  w )  const

Get the values of this quaternion.

void mitkQuaternion::Identity (  void   )

Set this quaternion to the identity quaternion.

void mitkQuaternion::Normalize (  void   )

Normalize this quaternion.

mitkQuaternion& mitkQuaternion::operator= (  const mitkQuaternion &  q  )  [inline]

"=" operator.

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Friends And Related Function Documentation

mitkQuaternion operator * (  const mitkQuaternion &  p, const mitkQuaternion &  q )  [friend]

Multiplication

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

• mitkQuaternion.h

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