Represents an orientation/attitude as Euler parameters (quaternion). Though it is conceptually difficult to visualize the orientation of a given set of quaternion values (as opposed to Eulter angles such as yaw, pitch, roll), they are useful for heavy mathematical processing because they avoid mathematical sigularities common when using Euler angles. More...

Public Member Functions
override string	ToString ()

	quatf (float x, float y, float z, float w)
	Creates a new qautf with the provided values for its components. More...

quatf	Negate ()
	Negates quatf. More...

float	Magnitude ()
	Computes and returns the magnitude of the quatf. More...

quatf	Normalize ()
	Normalizes the quatf. More...

quatf	Multiply (float scalar)
	Multiplies this quatf by the provided `scalar` value and returns the result. More...

quatf	Divide (float scalar)
	Divides this quatf by the provided scalar value and returns the result. More...

quatf	Subtract (quatf rhs)
	Subtracts the provided quatf from this quatf. More...

float	PrincipleRotationAngle ()
	Computes the angle of rotation about the quaternion's principle rotation angle in radians. More...

float	PrincipleRotationAngleInDegs ()
	Computes the angle of rotation about the quaternion's principle rotation angle in degrees. More...

float[]	ToArray ()
	Returns an array of the quatf's component values. More...

Static Public Member Functions
static implicit	operator quatf (vec4f v)

static quatf	operator* (quatf lhs, float rhs)
	Operator overloaded version of Multiply method. More...

static quatf	operator* (float lhs, quatf rhs)
	Operator overloaded version of Multiply method. More...

static quatf	operator/ (quatf lhs, float rhs)
	Operator overloaded version of Divide method. More...

static quatf	operator- (quatf lhs, quatf rhs)
	Operator overloaded version of Subtract method. More...

static quatf	operator- (quatf value)
	Operator overloaded version of Negate method. More...

Public Attributes
float	X
	The X (0-component) value. More...

float	Y
	The Y (1-component) value. More...

float	Z
	The Z (2-component) value. More...

float	W
	The W (3-component) value. More...

Properties
int	Dimension `[get]`
	The dimensions of the quatf. More...

static quatf	NoRotation `[get]`
	Returns a new quatf representing no rotation. More...

float	this[int index] `[get, set]`
	Allows indexing into the quatf. More...

Detailed Description

Represents an orientation/attitude as Euler parameters (quaternion). Though it is conceptually difficult to visualize the orientation of a given set of quaternion values (as opposed to Eulter angles such as yaw, pitch, roll), they are useful for heavy mathematical processing because they avoid mathematical sigularities common when using Euler angles.

Constructor & Destructor Documentation

VectorNav.Math.quatf.quatf	(	float	x,
		float	y,
		float	z,
		float	w
	)

Creates a new qautf with the provided values for its components.

Parameters

x	The value for the X (0) component.
y	The value for the Y (1) component.
z	The value for the Z (2) component.
w	The value for the W (3) component.

Member Function Documentation

quatf VectorNav.Math.quatf.Divide ( float scalar )

Divides this quatf by the provided scalar value and returns the result.

Parameters

scalar The scalar value to divide this quatf by.

Returns: The resulting quatf.

Exceptions

DivideByZeroException The provided scalar had a value of zero.

float VectorNav.Math.quatf.Magnitude ( )

Computes and returns the magnitude of the quatf.

Returns: The computed magnitude.

quatf VectorNav.Math.quatf.Multiply ( float scalar )

Multiplies this quatf by the provided scalar value and returns the result.

Parameters

scalar The scalar value to multiply this quatf by.

Returns: The resulting quatf.

quatf VectorNav.Math.quatf.Negate ( )

Negates quatf.

Returns: The negated quatf.

quatf VectorNav.Math.quatf.Normalize ( )

Normalizes the quatf.

Returns: The normalized quatf.

static quatf VectorNav.Math.quatf.operator*	(	quatf	lhs,
		float	rhs
	)

static

Operator overloaded version of Multiply method.

Parameters

lhs	The left-side quatf of the multiplication symbol.
rhs	The right-side scalar of the multiplication symbol.

Returns: The quatf resulting from the operation.

static quatf VectorNav.Math.quatf.operator*	(	float	lhs,
		quatf	rhs
	)

static

Operator overloaded version of Multiply method.

Parameters

lhs	The left-side scalar of the multiplication symbol.
rhs	The right-side quatf of the multiplication symbol.

Returns: The quatf resulting from the operation.

static quatf VectorNav.Math.quatf.operator-	(	quatf	lhs,
		quatf	rhs
	)

static

Operator overloaded version of Subtract method.

Parameters

lhs	The left-side quatf of the subtraction symbol.
rhs	The right-side quatf of the subtraction symbol.

Returns: The quatf resulting from the operation.

static quatf VectorNav.Math.quatf.operator- ( quatf value )

static

Operator overloaded version of Negate method.

Parameters

value The quatf to negate.

Returns: The negated quatf.

static quatf VectorNav.Math.quatf.operator/	(	quatf	lhs,
		float	rhs
	)

static

Operator overloaded version of Divide method.

Parameters

lhs	The left-side quatf of the division symbol.
rhs	The right-side scalar of the division symbol.

Returns: The quatf resulting from the operation.

float VectorNav.Math.quatf.PrincipleRotationAngle ( )

Computes the angle of rotation about the quaternion's principle rotation angle in radians.

Returns: The principle rotation angle in radians.

float VectorNav.Math.quatf.PrincipleRotationAngleInDegs ( )

Computes the angle of rotation about the quaternion's principle rotation angle in degrees.

Returns: The principle rotation angle in degrees.

quatf VectorNav.Math.quatf.Subtract ( quatf rhs )

Subtracts the provided quatf from this quatf.

Parameters

rhs	The quatf to subtract from this quatf.

Returns: The resultant quatf from the subtraction.

float [] VectorNav.Math.quatf.ToArray ( )

Returns an array of the quatf's component values.

Returns: The array containing the quatf components.

Member Data Documentation

float VectorNav.Math.quatf.W

The W (3-component) value.

float VectorNav.Math.quatf.X

The X (0-component) value.

float VectorNav.Math.quatf.Y

The Y (1-component) value.

float VectorNav.Math.quatf.Z

The Z (2-component) value.

Property Documentation

int VectorNav.Math.quatf.Dimension

get

The dimensions of the quatf.

quatf VectorNav.Math.quatf.NoRotation

staticget

Returns a new quatf representing no rotation.

float VectorNav.Math.quatf.this[int index]

getset

Allows indexing into the quatf.

Parameters

index The specified index. Must be in the range [0, 3].

Returns: The value at the specified index.

Exceptions

IndexOutOfRangeException Thrown if the specified index is out of range.

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

src/Math/quatf.cs

Public Member Functions

Static Public Member Functions

Public Attributes

Properties

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

Property Documentation