SBDTypeDualQuaternion Class Reference
This class describes a dual quaternion. More...
Public Attributes | |
| SBDual | w |
| The first component of the dual quaternion. | |
| SBDual | x |
| The second component of the dual quaternion. | |
| SBDual | y |
| The third component of the dual quaternion. | |
| SBDual | z |
| The fourth component of the dual quaternion. | |
Constructors | |
| SBDTypeDualQuaternion () | |
| Constructs a dual quaternion with components set to zero. | |
| SBDTypeDualQuaternion (double v[8]) | |
Constructs a dual quaternion such that w=(v[0], v[1]), x=(v[2], v[3]), y=(v[4], v[5]), z=(v[6], v[7]) | |
| SBDTypeDualQuaternion (const SBDTypeDual &w, const SBDTypeDual &x, const SBDTypeDual &y, const SBDTypeDual &z) | |
Constructs a dual quaternion from dual numbers w, x, y and z. | |
| SBDTypeDualQuaternion (double wa, double xa, double ya, double za, double wb, double xb, double yb, double zb) | |
Constructs a dual quaternion such that w=(wa, wb), x=(xa, xb), y=(ya, yb), z=(za, zb) | |
| SBDTypeDualQuaternion (const SBQuantity::dimensionless &wa, const SBQuantity::dimensionless &xa, const SBQuantity::dimensionless &ya, const SBQuantity::dimensionless &za, const SBQuantity::dimensionless &wb, const SBQuantity::dimensionless &xb, const SBQuantity::dimensionless &yb, const SBQuantity::dimensionless &zb) | |
Constructs a dual quaternion such that w=(wa, wb), x=(xa, xb), y=(ya, yb), z=(za, zb) | |
Serialization | |
| virtual bool | isSerializable () const |
| Returns true. | |
| virtual void | serialize (SBCSerializer *serializer, const SBVersionNumber &sdkVersionNumber=SB_SDK_VERSION_NUMBER) const |
| Serializes the dual quaternion. | |
| virtual void | unserialize (SBCSerializer *serializer, const SBVersionNumber &sdkVersionNumber=SB_SDK_VERSION_NUMBER) |
| Unserializes the dual quaternion. | |
Operators | |
| SBDTypeDualQuaternion | operator+ (const SBDTypeDualQuaternion &d) const |
Returns the sum of this dual quaternion with dual quaternion d. | |
| SBDTypeDualQuaternion | operator- (const SBDTypeDualQuaternion &d) const |
Returns the difference between this dual quaternion and dual quaternion d. | |
| SBDTypeDualQuaternion | operator* (const SBDTypeDualQuaternion &d) const |
Returns the product of this dual quaternion with dual quaternion d. | |
| SBDTypeDualQuaternion | operator* (double d) const |
Returns the product of this dual quaternion with double d. | |
| SBDTypeDualQuaternion | operator* (const SBQuantity::dimensionless &d) const |
Returns the product of this dual quaternion with dimensionless quantity d. | |
| SBDTypeDualQuaternion & | operator+= (const SBDTypeDualQuaternion &d) |
Adds dual quaternion d to this dual quaternion. | |
| SBDTypeDualQuaternion & | operator-= (const SBDTypeDualQuaternion &d) |
Subtracts dual quaternion d from this dual quaternion. | |
| SBDTypeDualQuaternion & | operator*= (const SBDTypeDualQuaternion &d) |
Multiplies this dual quaternion with dual quaternion d. | |
| SBDTypeDualQuaternion & | operator*= (double d) |
Multiplies this dual quaternion with double d. | |
| SBDTypeDualQuaternion & | operator*= (const SBQuantity::dimensionless &d) |
Multiplies this dual quaternion with dimensionless quantity d. | |
Useful functions | |
| SBDTypeDual | norm () const |
| Returns the norm of the dual quaternion. | |
| void | normalize () |
| Normalizes the dual quaternion. | |
| SBDTypeDualQuaternion | normalizedVersion () const |
| Returns the normalized version of the dual quaternion. | |
| SBDTypeDualQuaternion | conjugate () const |
| Returns the conjugate of the dual quaternion. | |
| SBDTypeDualQuaternion | biconjugate () const |
| Returns the bi-conjugate of the dual quaternion. | |
| void | print () const |
| Prints the dual quaternion. | |
Detailed Description
This class describes dual quaternions, which may be used to represent and interpolate rigid body positions and orientations. Dual quaternions are quaternions whose components are dual numbers.
Short name: SBDualQuaternion