mln::algebra::quat Class Reference
#include <quat.hh>
Public Types | |
| typedef Value< void > | category |
| typedef C | enc |
| Encoding associated type. | |
| typedef V | equiv |
| Equivalent associated type. | |
| typedef E | exact_t |
| typedef N | interop |
| Interoperation associated type. | |
Public Member Functions | |
| quat | conj () const |
| Give the conjugate. | |
| C & | handle_ () |
| quat | inv () const |
| Give the invert. | |
| bool | is_null () const |
| Test if the quaternion is null. | |
| bool | is_pure () const |
| Test if it is a pure quaternion. | |
| bool | is_unit () const |
| Test if it is a unit quaternion. | |
| operator const algebra::vec< 4, float > & () const | |
| Implicit conversion to a 4D algebra::vec. | |
| quat & | operator= (const algebra::vec< 4, float > &v) |
| Assignment from a 4D vector. | |
| quat (unsigned one, float theta, const algebra::vec< 3, float > &uv) | |
| quat (const algebra::vec< 4, float > &v) | |
| Constructor from a 4D vector. | |
| quat (float s, const algebra::vec< 3, float > &v) | |
| Constructor from a scalar and a 3D vector. | |
| quat (float s, float x, float y, float z) | |
| Constructor with components. | |
| quat () | |
| Constructor without argument. | |
| quat | rotate (const quat &q) const |
| template<unsigned n, typename T> | |
| algebra::vec< n, float > | rotate (const algebra::vec< n, T > &v) const |
| Rotate using quaternion definition of a rotation. | |
| float & | s () |
| Access to the scalar part. | |
| float | s () const |
| Give the scalar part. | |
| void | set_theta (float theta) |
| template<typename T> | |
| void | set_unit (float theta, const algebra::vec< 3, T > &uv) |
| Transform into unit quaternion. | |
| quat & | set_unit () |
| Transform into unit quaternion. | |
| void | set_uv (const algebra::vec< 3, float > &uv) |
| void | set_v (float x, float y, float z) |
| float | sprod (const quat &rhs) const |
| Scalar product. | |
| float | theta () const |
| const C & | to_enc () const |
| Explicit conversion towards encoding type. | |
| V | to_equiv () const |
| Explicit conversion towards equivalent type. | |
| N | to_interop () const |
| Explicit conversion towards interoperation type. | |
| const algebra::vec< 4, float > & | to_vec () const |
| Explicit conversion to a 4D algebra::vec. | |
| algebra::vec< 3, float > | uv () const |
| algebra::vec< 3, float > & | v () |
| const algebra::vec< 3, float > & | v () const |
| quat & | operator= (const literal::one_t &) |
| quat & | operator= (const literal::zero_t &) |
| quat (const literal::one_t &) | |
| quat (const literal::zero_t &) | |
| Constructors/assignments with literals zero and one. | |
Protected Attributes | |
| enc | v_ |
Detailed Description
Definition at line 123 of file quat.hh.
Member Typedef Documentation
typedef Value<void> mln::Value< E >::category [inherited] |
Reimplemented from mln::Object< E >.
Reimplemented in mln::value::Data< E >, mln::value::Floating< E >, mln::value::Integer< E >, mln::value::Scalar< E >, mln::value::Structured< E >, mln::value::Symbolic< E >, mln::value::Floating< mln::value::float01 >, mln::value::Floating< mln::value::graylevel_f >, mln::value::Floating< mln::value::float01_< n > >, mln::value::Floating< mln::value::internal::gray_f >, mln::value::Floating< mln::value::float01_f >, mln::value::Integer< mln::value::int_s< n > >, mln::value::Integer< mln::value::int_u_sat< n > >, mln::value::Integer< mln::value::graylevel< n > >, mln::value::Integer< mln::util::object_id< edge_tag, unsigned > >, mln::value::Integer< mln::util::object_id< Tag, V > >, mln::value::Integer< mln::util::object_id< vertex_tag, unsigned > >, mln::value::Integer< mln::value::int_u< n > >, mln::value::Scalar< mln::value::int_s< n > >, mln::value::Scalar< mln::value::int_u_sat< n > >, mln::value::Scalar< mln::value::graylevel< n > >, mln::value::Scalar< mln::value::float01 >, mln::value::Scalar< mln::value::scalar_< T > >, mln::value::Scalar< mln::value::sign >, mln::value::Scalar< mln::value::internal::gray_< n > >, mln::value::Scalar< mln::util::object_id< edge_tag, unsigned > >, mln::value::Scalar< mln::value::graylevel_f >, mln::value::Scalar< mln::value::float01_< n > >, mln::value::Scalar< mln::util::object_id< Tag, V > >, mln::value::Scalar< mln::value::internal::gray_f >, mln::value::Scalar< mln::util::object_id< vertex_tag, unsigned > >, mln::value::Scalar< mln::value::float01_f >, mln::value::Scalar< mln::value::int_u< n > >, and mln::value::Symbolic< mln::value::label< n > >.
Definition at line 59 of file core/concept/value.hh.
typedef C mln::value::internal::value_like_< V, C, N, E >::enc [inherited] |
Encoding associated type.
Reimplemented in mln::value::internal::gray_< n >, and mln::value::label< n >.
Definition at line 60 of file value_like.hh.
typedef V mln::value::internal::value_like_< V, C, N, E >::equiv [inherited] |
Equivalent associated type.
Reimplemented in mln::value::internal::gray_< n >.
Definition at line 57 of file value_like.hh.
typedef E mln::Object< E >::exact_t [inherited] |
typedef N mln::value::internal::value_like_< V, C, N, E >::interop [inherited] |
Constructor & Destructor Documentation
| mln::algebra::quat::quat | ( | ) | [inline] |
Constructor without argument.
Definition at line 268 of file quat.hh.
Referenced by conj(), mln::algebra::exp(), mln::algebra::log(), rotate(), and mln::algebra::slerp().
| mln::algebra::quat::quat | ( | float | s, | |
| float | x, | |||
| float | y, | |||
| float | z | |||
| ) | [inline] |
Constructor with components.
Definition at line 273 of file quat.hh.
References set_v(), and mln::value::internal::value_like_< V, C, N, E >::v_.
| mln::algebra::quat::quat | ( | float | s, | |
| const algebra::vec< 3, float > & | v | |||
| ) | [inline] |
Constructor from a scalar and a 3D vector.
Definition at line 280 of file quat.hh.
References v(), and mln::value::internal::value_like_< V, C, N, E >::v_.
| mln::algebra::quat::quat | ( | const algebra::vec< 4, float > & | v | ) | [inline] |
Constructor from a 4D vector.
Definition at line 287 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| mln::algebra::quat::quat | ( | const literal::zero_t & | ) | [inline] |
Constructors/assignments with literals zero and one.
Definition at line 304 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| mln::algebra::quat::quat | ( | const literal::one_t & | ) | [inline] |
| mln::algebra::quat::quat | ( | unsigned | one, | |
| float | theta, | |||
| const algebra::vec< 3, float > & | uv | |||
| ) | [inline] |
Member Function Documentation
| quat mln::algebra::quat::conj | ( | ) | const [inline] |
Give the conjugate.
Definition at line 410 of file quat.hh.
References quat(), s(), and v().
Referenced by inv(), mln::algebra::slerp_2(), mln::algebra::slerp_3(), mln::algebra::slerp_4(), and mln::algebra::slerp_5().
| C& mln::value::internal::value_like_< V, C, N, E >::handle_ | ( | ) | [inline, inherited] |
| quat mln::algebra::quat::inv | ( | ) | const [inline] |
Give the invert.
Definition at line 416 of file quat.hh.
References conj(), is_null(), mln::norm::l2(), to_vec(), and mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by rotate().
| bool mln::algebra::quat::is_null | ( | ) | const [inline] |
Test if the quaternion is null.
Definition at line 398 of file quat.hh.
References mln::algebra::about_equal(), mln::norm::l2(), and mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by mln::registration::icp(), and inv().
| bool mln::algebra::quat::is_pure | ( | ) | const [inline] |
Test if it is a pure quaternion.
Definition at line 404 of file quat.hh.
References mln::algebra::about_equal(), and mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by rotate().
| bool mln::algebra::quat::is_unit | ( | ) | const [inline] |
Test if it is a unit quaternion.
Definition at line 392 of file quat.hh.
References mln::algebra::about_equal(), mln::norm::l2(), and mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by mln::fun::x2x::rotation< n, C >::check_rotation(), mln::algebra::interpol_ok(), mln::algebra::log(), mln::algebra::pow(), rotate(), mln::fun::x2x::rotation< n, C >::rotation(), set_theta(), set_unit(), set_uv(), theta(), and uv().
| mln::algebra::quat::operator const algebra::vec< 4, float > & | ( | ) | const [inline] |
Implicit conversion to a 4D algebra::vec.
Definition at line 342 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| quat & mln::algebra::quat::operator= | ( | const literal::one_t & | ) | [inline] |
| quat & mln::algebra::quat::operator= | ( | const literal::zero_t & | ) | [inline] |
Definition at line 311 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| quat & mln::algebra::quat::operator= | ( | const algebra::vec< 4, float > & | v | ) | [inline] |
Assignment from a 4D vector.
Definition at line 294 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| algebra::vec< n, float > mln::algebra::quat::rotate | ( | const algebra::vec< n, T > & | v | ) | const [inline] |
Rotate using quaternion definition of a rotation.
Definition at line 496 of file quat.hh.
References is_unit(), quat(), and v().
Referenced by mln::fun::x2x::rotation< n, C >::check_rotation(), mln::registration::compute_d_k(), mln::registration::draw_last_run(), mln::registration::get_mu_yk(), mln::registration::get_rot(), and mln::registration::icp().
| float & mln::algebra::quat::s | ( | ) | [inline] |
Access to the scalar part.
Definition at line 356 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| float mln::algebra::quat::s | ( | ) | const [inline] |
Give the scalar part.
Definition at line 349 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by conj(), mln::algebra::exp(), mln::algebra::operator*(), operator=(), quat(), and theta().
| void mln::algebra::quat::set_theta | ( | float | theta | ) | [inline] |
| void mln::algebra::quat::set_unit | ( | float | theta, | |
| const algebra::vec< 3, T > & | uv | |||
| ) | [inline] |
Transform into unit quaternion.
Definition at line 437 of file quat.hh.
References mln::algebra::about_equal(), mln::norm::l2(), and mln::value::internal::value_like_< V, C, N, E >::v_.
| quat & mln::algebra::quat::set_unit | ( | ) | [inline] |
Transform into unit quaternion.
Definition at line 424 of file quat.hh.
References mln::algebra::about_equal(), is_unit(), mln::norm::l2(), to_vec(), and mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by mln::math::jacobi(), quat(), set_theta(), and set_uv().
| void mln::algebra::quat::set_uv | ( | const algebra::vec< 3, float > & | uv | ) | [inline] |
| void mln::algebra::quat::set_v | ( | float | x, | |
| float | y, | |||
| float | z | |||
| ) | [inline] |
Definition at line 377 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by quat().
| float mln::algebra::quat::sprod | ( | const quat & | rhs | ) | const [inline] |
Scalar product.
Definition at line 386 of file quat.hh.
References to_vec(), and mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by mln::algebra::slerp().
| float mln::algebra::quat::theta | ( | ) | const [inline] |
Definition at line 465 of file quat.hh.
References is_unit(), and s().
Referenced by mln::algebra::exp(), mln::algebra::log(), and set_uv().
| const C & mln::value::internal::value_like_< V, C, N, E >::to_enc | ( | ) | const [inline, inherited] |
Explicit conversion towards encoding type.
Definition at line 110 of file value_like.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by mln::value::internal::convert_< float01_< n > >::index_of_value(), mln::value::label< n >::operator unsigned(), and mln::value::internal::operator==().
| V mln::value::internal::value_like_< V, C, N, E >::to_equiv | ( | ) | const [inline, inherited] |
Explicit conversion towards equivalent type.
Definition at line 102 of file value_like.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| N mln::value::internal::value_like_< V, C, N, E >::to_interop | ( | ) | const [inline, inherited] |
Explicit conversion towards interoperation type.
Definition at line 118 of file value_like.hh.
Referenced by mln::value::operator*(), mln::value::operator+(), mln::value::operator-(), and mln::value::operator/().
| const algebra::vec< 4, float > & mln::algebra::quat::to_vec | ( | ) | const [inline] |
Explicit conversion to a 4D algebra::vec.
Definition at line 336 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by mln::algebra::about_equal(), inv(), mln::algebra::operator*(), mln::algebra::operator+(), mln::algebra::operator-(), mln::algebra::operator/(), mln::algebra::operator<<(), mln::fun::x2x::rotation< n, C >::rotation(), set_unit(), and sprod().
| algebra::vec< 3, float > mln::algebra::quat::uv | ( | ) | const [inline] |
Definition at line 479 of file quat.hh.
References is_unit(), mln::algebra::vec< n, T >::normalize(), and v().
Referenced by mln::algebra::exp(), mln::algebra::log(), and set_theta().
| algebra::vec< 3, float > & mln::algebra::quat::v | ( | ) | [inline] |
Definition at line 371 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
| const algebra::vec< 3, float > & mln::algebra::quat::v | ( | ) | const [inline] |
Definition at line 363 of file quat.hh.
References mln::value::internal::value_like_< V, C, N, E >::v_.
Referenced by conj(), mln::algebra::exp(), mln::registration::icp(), mln::algebra::operator*(), operator=(), quat(), rotate(), and uv().
Member Data Documentation
enc mln::value::internal::value_like_< V, C, N, E >::v_ [protected, inherited] |
Definition at line 79 of file value_like.hh.
Referenced by mln::value::rgb< n >::blue(), mln::value::rgb< n >::comp(), mln::value::float01_< n >::float01_(), mln::value::float01_f::float01_f(), mln::value::internal::gray_< n >::gray_(), mln::value::internal::gray_f::gray_f(), mln::value::graylevel< n >::graylevel(), mln::value::graylevel_f::graylevel_f(), mln::value::rgb< n >::green(), mln::value::internal::value_like_< mln::value::float01_f, float01_f::enc, mln::value::internal::gray_f, mln::value::graylevel_f >::handle_(), mln::value::int_s< n >::int_s(), mln::value::int_u< n >::int_u(), mln::value::int_u_sat< n >::int_u_sat(), inv(), is_null(), is_pure(), is_unit(), mln::value::label< n >::label(), mln::value::label< n >::next(), mln::value::int_u< n >::next(), mln::value::rgb< n >::operator algebra::vec< 3, float >(), mln::value::rgb< n >::operator algebra::vec< 3, int >(), operator const algebra::vec< 4, float > &(), mln::value::float01_f::operator float(), mln::value::float01_< n >::operator float(), mln::value::internal::gray_f::operator gray_< m >(), mln::value::internal::gray_< n >::operator gray_< m >(), mln::value::internal::gray_f::operator graylevel< m >(), mln::value::internal::gray_< n >::operator graylevel< m >(), mln::value::internal::gray_f::operator graylevel_f(), mln::value::internal::gray_< n >::operator graylevel_f(), mln::value::int_u_sat< n >::operator int(), mln::value::int_u< n >::operator unsigned(), mln::value::label< n >::operator++(), mln::value::int_u_sat< n >::operator+=(), mln::value::int_u< n >::operator-(), mln::value::label< n >::operator--(), mln::value::int_u_sat< n >::operator-=(), mln::value::rgb< n >::operator=(), operator=(), mln::value::label< n >::operator=(), mln::value::int_u_sat< n >::operator=(), mln::value::int_u< n >::operator=(), mln::value::int_s< n >::operator=(), mln::value::graylevel_f::operator=(), mln::value::graylevel< n >::operator=(), mln::value::internal::gray_f::operator=(), mln::value::internal::gray_< n >::operator=(), mln::value::float01_f::operator=(), mln::value::float01_< n >::operator=(), mln::value::label< n >::prev(), quat(), mln::value::rgb< n >::red(), mln::value::rgb< n >::rgb(), s(), mln::value::float01_< n >::set_ind(), set_unit(), set_v(), sprod(), mln::value::internal::value_like_< V, C, N, E >::to_enc(), mln::value::internal::value_like_< V, C, N, E >::to_equiv(), mln::value::graylevel< n >::to_float(), to_vec(), v(), mln::value::graylevel_f::value(), mln::value::graylevel< n >::value(), mln::value::internal::gray_f::value(), mln::value::internal::gray_< n >::value(), mln::value::float01_f::value(), and mln::value::float01_< n >::value().
