InstantIO::Rotation Class Reference

Helper class for exchanging Rotations/Orientations. More...

#include <InstantIO/Rotation.h>

List of all members.

Public Member Functions
	Rotation ()
	Creates a new Rotation object.
	Rotation (float q1, float q2, float q3, float q4)
	Constructor that initializes the Rotation object with the given quaternions.
	Rotation (const float *quat)
	Constructor that initializes the Rotation object with the values of a given float array.
	Rotation (const Rotation &rot)
	Constructor that initializes the Rotation object with another Rotation object.
	Rotation (const Vec3f &axis, float angle)
	Constructor that initializes the Rotation object with a rotation axis and a rotation angle.
const Rotation &	operator= (const Rotation &rot)
	Assigns the components of another Rotation object to this object's components.
const float *	operator= (const float *quat)
	Assigns an array of floats to this object's components.
void	setQ1 (float q1)
	Sets the first quaternion of the rotation.
float	getQ1 () const
	Returns the first quaternion of the rotation.
void	setQ2 (float q2)
	Sets the second quaternion of the rotation.
float	getQ2 () const
	Returns the second quaternion of the rotation.
void	setQ3 (float q3)
	Sets the third quaternion of the rotation.
float	getQ3 () const
	Returns the third quaternion of the rotation.
void	setQ4 (float q4)
	Sets the fourth quaternion of the rotation.
float	getQ4 () const
	Returns the fourth quaternion of the rotation.
void	set (float q1, float q2, float q3, float q4)
	Sets the rotation by setting the four quaternions.
void	set (const float *quat)
	Sets the rotation with the values of a given float array.
void	set (const Rotation &rot)
	Sets the rotation to the rotation of another Rotation object.
void	set (const Vec3f &axis, float angle)
	Sets the rotation by a rotation axis and a rotation angle.
void	get (float &q1, float &q2, float &q3, float &q4) const
	Returns the four components of the quaternion representation of the rotation.
void	get (float *quat) const
	Returns the quaternions of the rotation.
void	get (Rotation &rot) const
	Returns the rotation.
float	get (Vec3f &axis) const
	Returns the rotation axis and the rotation angle.
const float *	get () const
	Returns the quaternions of the rotation.
float *	get ()
	Returns the quaternions of the rotation.
float	operator[] (int i) const
	Get a component of the quaternion representation of the rotation by an index.
float &	operator[] (int i)
	Get a component of the quaternion representation of the rotation by an index.
	operator float * ()
	Transforms the rotation to an array of four float values that contain the four components of the quaternion representation of the rotation.
	operator const float * () const
	Transforms the rotation to an array of four float values that contain the four components of the quaternion representation of the rotation.
Rotation &	operator*= (const Rotation &rot)
	Multiplies the rotation by another rotation to get the product of both rotations.

---

Detailed Description

Helper class for exchanging Rotations/Orientations.

Rotation is a basic helper class for exchanging rotations resp. orientations between different software components. It does not contain any means for rotation arithmetics, only methods for setting and getting the rotation. It is not meant to be used directly by software components for rotation representation. Instead, software components should use their own, appropriate classes for handling rotations. Only when sending rotations to an OutSlot, or when receiving rotations from an InSlot, the internal representation of rotations should be converted to Rotation's. This ensures the interoperability between different software components that use different internal representations for rotations.

Rotations are internally stored as quaternions. You can access these quaternions directly, or you can use methods that convert a rotation axis and a rotation angle to and from the quaternions.

Author:

Patrick Dähne

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Constructor & Destructor Documentation

InstantIO::Rotation::Rotation	(	float	q1,
		float	q2,
		float	q3,
		float	q4
	)			[inline]

Constructor that initializes the Rotation object with the given quaternions.

Parameters:

	q1	The first quaternion
	q2	The second quaternion
	q3	The third quaternion
	q4	The fourth quaternion

InstantIO::Rotation::Rotation

(

const float *

quat

)

[inline]

Constructor that initializes the Rotation object with the values of a given float array.

Parameters:

quat

An array of at least four float values. The first four values must contain the quaternions that specify the rotation.

InstantIO::Rotation::Rotation

(

const Rotation &

rot

)

[inline]

Constructor that initializes the Rotation object with another Rotation object.

Parameters:

rot

The other Rotation object used to initialize this Rotation object.

InstantIO::Rotation::Rotation	(	const Vec3f &	axis,
		float	angle
	)			[inline]

Constructor that initializes the Rotation object with a rotation axis and a rotation angle.

Parameters:

	axis	The rotation axis
	angle	The rotation angle in radians

---

Member Function Documentation

const Rotation& InstantIO::Rotation::operator=

(

const Rotation &

rot

)

[inline]

Assigns the components of another Rotation object to this object's components.

Parameters:

rot

The other Rotation object

Returns:

The other Rotation object

const float* InstantIO::Rotation::operator=

(

const float *

quat

)

[inline]

Assigns an array of floats to this object's components.

Parameters:

quat

An array of at least four float values. The first four values must contain the quaternions that specify the rotation.

Returns:

The array of floats

void InstantIO::Rotation::setQ1

(

float

q1

)

[inline]

Sets the first quaternion of the rotation.

Parameters:

q1

The new first quaternion.

float InstantIO::Rotation::getQ1

(

)

const [inline]

Returns the first quaternion of the rotation.

Returns:

The first quaternion.

void InstantIO::Rotation::setQ2

(

float

q2

)

[inline]

Sets the second quaternion of the rotation.

Parameters:

q2

The new second quaternion.

float InstantIO::Rotation::getQ2

(

)

const [inline]

Returns the second quaternion of the rotation.

Returns:

The second quaternion.

void InstantIO::Rotation::setQ3

(

float

q3

)

[inline]

Sets the third quaternion of the rotation.

Parameters:

q3

The new third quaternion.

float InstantIO::Rotation::getQ3

(

)

const [inline]

Returns the third quaternion of the rotation.

Returns:

The third quaternion.

void InstantIO::Rotation::setQ4

(

float

q4

)

[inline]

Sets the fourth quaternion of the rotation.

Parameters:

q4

The new fourth quaternion.

float InstantIO::Rotation::getQ4

(

)

const [inline]

Returns the fourth quaternion of the rotation.

Returns:

The fourth quaternion.

void InstantIO::Rotation::set	(	float	q1,
		float	q2,
		float	q3,
		float	q4
	)			[inline]

Sets the rotation by setting the four quaternions.

Parameters:

	q1	The first quaternion
	q2	The second quaternion
	q3	The third quaternion
	q4	The fourth quaternion

void InstantIO::Rotation::set

(

const float *

quat

)

[inline]

Sets the rotation with the values of a given float array.

Parameters:

quat

An array of at least four float values. The first four values must contain the quaternions that specify the rotation.

void InstantIO::Rotation::set

(

const Rotation &

rot

)

[inline]

Sets the rotation to the rotation of another Rotation object.

Parameters:

rot

The other Rotation object.

void InstantIO::Rotation::set	(	const Vec3f &	axis,
		float	angle
	)

Sets the rotation by a rotation axis and a rotation angle.

Parameters:

	axis	The rotation axis
	angle	The rotation angle in radians

void InstantIO::Rotation::get	(	float &	q1,
		float &	q2,
		float &	q3,
		float &	q4
	)			const [inline]

Returns the four components of the quaternion representation of the rotation.

Parameters:

	q1	Returns the first component
	q2	Returns the second component
	q3	Returns the third component
	q4	Returns the fourth component

void InstantIO::Rotation::get

(

float *

quat

)

const [inline]

Returns the quaternions of the rotation.

Parameters:

quat

An array of at least four float values that gets filled with the quaternions of the rotation.

void InstantIO::Rotation::get

(

Rotation &

rot

)

const [inline]

Returns the rotation.

Parameters:

rot

The Rotation object that is set to the rotation of this Rotation object.

float InstantIO::Rotation::get

(

Vec3f &

axis

)

const

Returns the rotation axis and the rotation angle.

Parameters:

axis

The vector that gets filled with the rotation axis.

Returns:

The rotation angle in radians.

const float* InstantIO::Rotation::get

(

)

const [inline]

Returns the quaternions of the rotation.

Returns:

An array of four float elements that contain the quaternions of the rotation.

float* InstantIO::Rotation::get

(

)

[inline]

Returns the quaternions of the rotation.

Returns:

An array of four float elements that contain the quaternions of the rotation.

float InstantIO::Rotation::operator[]

(

int

i

)

const [inline]

Get a component of the quaternion representation of the rotation by an index.

Parameters:

i

The index

Returns:

The component

float& InstantIO::Rotation::operator[]

(

int

i

)

[inline]

Get a component of the quaternion representation of the rotation by an index.

Parameters:

i

The index

Returns:

The component

InstantIO::Rotation::operator float *

(

)

[inline]

Transforms the rotation to an array of four float values that contain the four components of the quaternion representation of the rotation.

Returns:

The four components

InstantIO::Rotation::operator const float *

(

)

const [inline]

Transforms the rotation to an array of four float values that contain the four components of the quaternion representation of the rotation.

Returns:

The four components

Rotation& InstantIO::Rotation::operator*=

(

const Rotation &

rot

)

Multiplies the rotation by another rotation to get the product of both rotations.

Parameters:

rot

The other rotation

Returns:

Itself

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

• Rotation.h