Ra::Core::DualQuaternion Class Reference

#include <Core/Math/DualQuaternion.hpp>

Collaboration diagram for Ra::Core::DualQuaternion:

Public Member Functions
	DualQuaternion ()
	Construct an uninitialized dual quaternion.
	DualQuaternion (const Quaternion &q0, const Quaternion &qe)
	Construct a dual-quaternion from two quaternions.
	DualQuaternion (const Core::Transform &tr)
	DualQuaternion (const DualQuaternion &other)=default
	Default copy constructor and assignment operator.
DualQuaternion &	operator= (const DualQuaternion &)=default
const Quaternion &	getQ0 () const
	Getters and setters.
void	setQ0 (const Quaternion &q0)
const Quaternion &	getQe () const
void	setQe (const Quaternion &qe)
DualQuaternion	operator+ (const DualQuaternion &other) const
	Operators.
DualQuaternion	operator* (Scalar scalar) const
DualQuaternion &	operator+= (const DualQuaternion &other)
DualQuaternion &	operator*= (Scalar scalar)
void	setFromTransform (const Transform &t)
	Other methods.
Transform	getTransform () const
	Return the corresponding rigid transform. Assume a unit dual quaternion.
void	normalize ()
Vector3	transform (const Vector3 &p) const
Vector3	rotate (const Vector3 &p) const
	Apply only the rotational part of the dual quaternion to the given vector.
Vector3	translate (const Vector3 &p) const
	Apply only the translational part of the dual quaternion to the given vector.

Detailed Description

Dual quaternions are based on the dual-numbers algebra, somewhat analogous to complex numbers, but with the imaginary unit e defined such as e*e = 0 ; and using quaternions as the non-dual and dual part. Unit dual quaternions can represent any rigid transformation (rotation + translation). A good reference. http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/other/dualQuaternion/index.htm

Definition at line 18 of file DualQuaternion.hpp.

Constructor & Destructor Documentation

DualQuaternion() [1/3]

Ra::Core::DualQuaternion::DualQuaternion ( )

inline

Construct an uninitialized dual quaternion.

Definition at line 23 of file DualQuaternion.hpp.

DualQuaternion() [2/3]

Ra::Core::DualQuaternion::DualQuaternion ( const Quaternion & q0, const Quaternion & qe )

inline

Construct a dual-quaternion from two quaternions.

Definition at line 26 of file DualQuaternion.hpp.

DualQuaternion() [3/3]

Ra::Core::DualQuaternion::DualQuaternion ( const Core::Transform & tr )

inlineexplicit

Construct a dual-quaternion from a rigid transform Any non-rigid component (e.g. scale and shear) will be ignored.

Definition at line 143 of file DualQuaternion.hpp.

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Member Function Documentation

getQ0()

const Quaternion & Ra::Core::DualQuaternion::getQ0 ( ) const

inline

Getters and setters.

Definition at line 84 of file DualQuaternion.hpp.

getQe()

const Quaternion & Ra::Core::DualQuaternion::getQe ( ) const

inline

Definition at line 92 of file DualQuaternion.hpp.

getTransform()

Transform Ra::Core::DualQuaternion::getTransform ( ) const

inline

Return the corresponding rigid transform. Assume a unit dual quaternion.

Definition at line 147 of file DualQuaternion.hpp.

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normalize()

void Ra::Core::DualQuaternion::normalize ( )

inline

Normalize the quaternion with the dual-number norm (divides q0 and qe by q0's norm). Will assert if the norm is zero in debug builds.

Definition at line 118 of file DualQuaternion.hpp.

operator*()

DualQuaternion Ra::Core::DualQuaternion::operator* ( Scalar scalar ) const

inline

Definition at line 104 of file DualQuaternion.hpp.

operator*=()

DualQuaternion & Ra::Core::DualQuaternion::operator*= ( Scalar scalar )

inline

Definition at line 113 of file DualQuaternion.hpp.

operator+()

DualQuaternion Ra::Core::DualQuaternion::operator+ ( const DualQuaternion & other ) const

inline

Operators.

Definition at line 100 of file DualQuaternion.hpp.

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operator+=()

DualQuaternion & Ra::Core::DualQuaternion::operator+= ( const DualQuaternion & other )

inline

Definition at line 108 of file DualQuaternion.hpp.

rotate()

Vector3 Ra::Core::DualQuaternion::rotate ( const Vector3 & p ) const

inline

Apply only the rotational part of the dual quaternion to the given vector.

Definition at line 131 of file DualQuaternion.hpp.

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setFromTransform()

void Ra::Core::DualQuaternion::setFromTransform ( const Transform & t )

inline

Other methods.

Set the dual-quaternion from a rigid transform. Any non-rigid component (e.g. scale and shear) will be ignored.

Definition at line 158 of file DualQuaternion.hpp.

setQ0()

void Ra::Core::DualQuaternion::setQ0 ( const Quaternion & q0 )

inline

Definition at line 88 of file DualQuaternion.hpp.

setQe()

void Ra::Core::DualQuaternion::setQe ( const Quaternion & qe )

inline

Definition at line 96 of file DualQuaternion.hpp.

transform()

Vector3 Ra::Core::DualQuaternion::transform ( const Vector3 & p ) const

inline

Apply the transform represented by the dual quaternion to given vector. equivalent to translate( rotate (p)).

Definition at line 125 of file DualQuaternion.hpp.

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translate()

Vector3 Ra::Core::DualQuaternion::translate ( const Vector3 & p ) const

inline

Apply only the translational part of the dual quaternion to the given vector.

Definition at line 137 of file DualQuaternion.hpp.

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

• /home/runner/work/Radium-Engine/Radium-Engine/src/Radium-Engine/src/Core/Math/DualQuaternion.hpp