#include <quatd.h>

Public Types
typedef double	ScalarType

typedef GfVec3d	ImaginaryType

Public Member Functions
	GfQuatd ()
	Default constructor leaves the quaternion undefined. More...

	GfQuatd (double realVal)

	GfQuatd (double real, double i, double j, double k)
	Initialize the real and imaginary coefficients. More...

	GfQuatd (double real, const GfVec3d &imaginary)
	Initialize the real and imaginary coefficients. More...

GF_API	GfQuatd (class GfQuatf const &other)
	Implicitly convert from GfQuatf. More...

GF_API	GfQuatd (class GfQuath const &other)
	Implicitly convert from GfQuath. More...

double	GetReal () const
	Return the real coefficient. More...

void	SetReal (double real)
	Set the real coefficient. More...

const GfVec3d &	GetImaginary () const
	Return the imaginary coefficient. More...

void	SetImaginary (const GfVec3d &imaginary)
	Set the imaginary coefficients. More...

void	SetImaginary (double i, double j, double k)
	Set the imaginary coefficients. More...

double	GetLength () const
	Return geometric length of this quaternion. More...

GfQuatd	GetNormalized (double eps=GF_MIN_VECTOR_LENGTH) const

GF_API double	Normalize (double eps=GF_MIN_VECTOR_LENGTH)

GfQuatd	GetConjugate () const

GfQuatd	GetInverse () const

GF_API GfVec3d	Transform (const GfVec3d &point) const

GfQuatd	operator- () const
	Component-wise negation. More...

bool	operator== (const GfQuatd &q) const

bool	operator!= (const GfQuatd &q) const

GF_API GfQuatd &	operator*= (const GfQuatd &q)
	Post-multiply quaternion `q` into this quaternion. More...

GfQuatd &	operator*= (double s)
	Multiply this quaternion's coefficients by `s`. More...

GfQuatd &	operator/= (double s)
	Divide this quaternion's coefficients by `s`. More...

GfQuatd &	operator+= (const GfQuatd &q)
	Add quaternion `q` to this quaternion. More...

GfQuatd &	operator-= (const GfQuatd &q)
	Component-wise unary difference operator. More...

Static Public Member Functions
static GfQuatd	GetZero ()

static GfQuatd	GetIdentity ()

Friends
size_t	hash_value (const GfQuatd &q)
	Hash. More...

GfQuatd	operator+ (const GfQuatd &q1, const GfQuatd &q2)
	Component-wise binary sum operator. More...

GfQuatd	operator- (const GfQuatd &q1, const GfQuatd &q2)
	Component-wise binary difference operator. More...

GfQuatd	operator* (const GfQuatd &q1, const GfQuatd &q2)
	Returns the product of quaternions `q1` and `q2`. More...

GfQuatd	operator* (const GfQuatd &q, double s)
	Returns the product of quaternion `q` and scalar `s`. More...

GfQuatd	operator* (double s, const GfQuatd &q)
	Returns the product of quaternion `q` and scalar `s`. More...

GfQuatd	operator/ (const GfQuatd &q, double s)
	Returns the product of quaternion `q` and scalar 1 / `s`. More...

Detailed Description

Basic type: a quaternion, a complex number with a real coefficient and three imaginary coefficients, stored as a 3-vector.

Definition at line 42 of file quatd.h.

Member Typedef Documentation

typedef GfVec3d GfQuatd::ImaginaryType

Definition at line 46 of file quatd.h.

typedef double GfQuatd::ScalarType

Definition at line 45 of file quatd.h.

Constructor & Destructor Documentation

GfQuatd::GfQuatd ( )

inline

Default constructor leaves the quaternion undefined.

Definition at line 49 of file quatd.h.

GfQuatd::GfQuatd ( double realVal )

inlineexplicit

Initialize the real coefficient to realVal and the imaginary coefficients to zero.

Since quaternions typically must be normalized, reasonable values for realVal are -1, 0, or 1. Other values are legal but are likely to be meaningless.

Definition at line 58 of file quatd.h.

GfQuatd::GfQuatd	(	double	real,
		double	i,
		double	j,
		double	k
	)

inline

Initialize the real and imaginary coefficients.

Definition at line 61 of file quatd.h.

GfQuatd::GfQuatd	(	double	real,
		const GfVec3d &	imaginary
	)

inline

Initialize the real and imaginary coefficients.

Definition at line 67 of file quatd.h.

GF_API GfQuatd::GfQuatd ( class GfQuatf const & other )

Implicitly convert from GfQuatf.

GF_API GfQuatd::GfQuatd ( class GfQuath const & other )

Implicitly convert from GfQuath.

Member Function Documentation

GfQuatd GfQuatd::GetConjugate ( ) const

inline

Return this quaternion's conjugate, which is the quaternion with the same real coefficient and negated imaginary coefficients.

Definition at line 126 of file quatd.h.

static GfQuatd GfQuatd::GetIdentity ( )

inlinestatic

Return the identity quaternion, with real coefficient 1 and an imaginary coefficients all zero.

Definition at line 85 of file quatd.h.

const GfVec3d& GfQuatd::GetImaginary ( ) const

inline

Return the imaginary coefficient.

Definition at line 94 of file quatd.h.

GfQuatd GfQuatd::GetInverse ( ) const

inline

Return this quaternion's inverse, or reciprocal. This is the quaternion's conjugate divided by it's squared length.

Definition at line 132 of file quatd.h.

double GfQuatd::GetLength ( ) const

inline

Return geometric length of this quaternion.

Definition at line 107 of file quatd.h.

GfQuatd GfQuatd::GetNormalized ( double eps = GF_MIN_VECTOR_LENGTH ) const

inline

length of this quaternion is smaller than eps, return the identity quaternion.

Definition at line 112 of file quatd.h.

double GfQuatd::GetReal ( ) const

inline

Return the real coefficient.

Definition at line 88 of file quatd.h.

static GfQuatd GfQuatd::GetZero ( )

inlinestatic

Return the zero quaternion, with real coefficient 0 and an imaginary coefficients all zero.

Definition at line 81 of file quatd.h.

GF_API double GfQuatd::Normalize ( double eps = GF_MIN_VECTOR_LENGTH )

Normalizes this quaternion in place to unit length, returning the length before normalization. If the length of this quaternion is smaller than eps, this sets the quaternion to identity.

bool GfQuatd::operator!= ( const GfQuatd & q ) const

inline

Component-wise quaternion inequality test. The real and imaginary parts must match exactly for quaternions to be considered equal.

Definition at line 165 of file quatd.h.

GF_API GfQuatd& GfQuatd::operator*= ( const GfQuatd & q )

Post-multiply quaternion q into this quaternion.

GfQuatd& GfQuatd::operator*= ( double s )

inline

Multiply this quaternion's coefficients by s.

Definition at line 174 of file quatd.h.

GfQuatd& GfQuatd::operator+= ( const GfQuatd & q )

inline

Add quaternion q to this quaternion.

Definition at line 188 of file quatd.h.

GfQuatd GfQuatd::operator- ( ) const

inline

Component-wise negation.

Definition at line 152 of file quatd.h.

GfQuatd& GfQuatd::operator-= ( const GfQuatd & q )

inline

Component-wise unary difference operator.

Definition at line 195 of file quatd.h.

GfQuatd& GfQuatd::operator/= ( double s )

inline

Divide this quaternion's coefficients by s.

Definition at line 181 of file quatd.h.

bool GfQuatd::operator== ( const GfQuatd & q ) const

inline

Component-wise quaternion equality test. The real and imaginary parts must match exactly for quaternions to be considered equal.

Definition at line 158 of file quatd.h.

void GfQuatd::SetImaginary ( const GfVec3d & imaginary )

inline

Set the imaginary coefficients.

Definition at line 97 of file quatd.h.

void GfQuatd::SetImaginary	(	double	i,
		double	j,
		double	k
	)

inline

Set the imaginary coefficients.

Definition at line 102 of file quatd.h.

void GfQuatd::SetReal ( double real )

inline

Set the real coefficient.

Definition at line 91 of file quatd.h.

GF_API GfVec3d GfQuatd::Transform ( const GfVec3d & point ) const

Transform the GfVec3d point. If the quaternion is normalized, the transformation is a rotation. Given a GfQuatd q, q.Transform(point) is equivalent to:

(q * GfQuatd(0, point) * q.GetInverse()).GetImaginary()

but is more efficient.

Friends And Related Function Documentation

size_t hash_value ( const GfQuatd & q )

friend

Hash.

Definition at line 147 of file quatd.h.

GfQuatd operator*	(	const GfQuatd &	q1,
		const GfQuatd &	q2
	)

friend

Returns the product of quaternions q1 and q2.

Definition at line 215 of file quatd.h.

GfQuatd operator*	(	const GfQuatd &	q,
		double	s
	)

friend

Returns the product of quaternion q and scalar s.

Definition at line 221 of file quatd.h.

GfQuatd operator*	(	double	s,
		const GfQuatd &	q
	)

friend

Returns the product of quaternion q and scalar s.

Definition at line 227 of file quatd.h.

GfQuatd operator+	(	const GfQuatd &	q1,
		const GfQuatd &	q2
	)

friend

Component-wise binary sum operator.

Definition at line 203 of file quatd.h.

GfQuatd operator-	(	const GfQuatd &	q1,
		const GfQuatd &	q2
	)

friend

Component-wise binary difference operator.

Definition at line 209 of file quatd.h.

GfQuatd operator/	(	const GfQuatd &	q,
		double	s
	)

friend

Returns the product of quaternion q and scalar 1 / s.

Definition at line 233 of file quatd.h.

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

pxr/base/gf/quatd.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation