Class SBDTypeDualQuaternion#

ClassList > SBDTypeDualQuaternion

This class describes a dual quaternion. More...

#include <SBDTypeDualQuaternion.hpp>

Public Attributes#

Type	Name
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.

Public Functions#

Type	Name
	SBDTypeDualQuaternion () Constructs a dual quaternion with components set to zero.
	SBDTypeDualQuaternion (double v) 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` )
SBDTypeDualQuaternion	biconjugate () const Returns the bi-conjugate of the dual quaternion.
SBDTypeDualQuaternion	conjugate () const Returns the conjugate of the dual quaternion.
virtual bool	isSerializable () const Returns true.
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	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) 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` .
SBDTypeDualQuaternion	operator+ (const SBDTypeDualQuaternion & d) const Returns the sum of this dual quaternion with dual quaternion `d` .
SBDTypeDualQuaternion &	operator+= (const SBDTypeDualQuaternion & d) Adds dual quaternion `d` to this dual quaternion.
SBDTypeDualQuaternion	operator- (const SBDTypeDualQuaternion & d) const Returns the difference between this dual quaternion and dual quaternion `d` .
SBDTypeDualQuaternion &	operator-= (const SBDTypeDualQuaternion & d) Subtracts dual quaternion `d` from this dual quaternion.
void	print () const Prints the dual quaternion.
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.

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

See also: SBDTypeDual

See also: SAMSON's unit system

Public Attributes Documentation#

variable w#

The first component of the dual quaternion.

SBDual w;

variable x#

The second component of the dual quaternion.

SBDual x;

variable y#

The third component of the dual quaternion.

SBDual y;

variable z#

The fourth component of the dual quaternion.

SBDual z;

Public Functions Documentation#

function SBDTypeDualQuaternion [1/5]#

Constructs a dual quaternion with components set to zero.

SBDTypeDualQuaternion::SBDTypeDualQuaternion ()

function SBDTypeDualQuaternion [2/5]#

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::SBDTypeDualQuaternion (
    double v
)

function SBDTypeDualQuaternion [3/5]#

Constructs a dual quaternion from dual numbers w ,x ,y andz .

SBDTypeDualQuaternion::SBDTypeDualQuaternion (
    const SBDTypeDual & w,
    const SBDTypeDual & x,
    const SBDTypeDual & y,
    const SBDTypeDual & z
)

function SBDTypeDualQuaternion [4/5]#

Constructs a dual quaternion such that w=( wa ,wb ), x=(xa ,xb ), y=(ya ,yb ), z=(za ,zb )

SBDTypeDualQuaternion::SBDTypeDualQuaternion (
    double wa,
    double xa,
    double ya,
    double za,
    double wb,
    double xb,
    double yb,
    double zb
)

function SBDTypeDualQuaternion [5/5]#

Constructs a dual quaternion such that w=( wa ,wb ), x=(xa ,xb ), y=(ya ,yb ), z=(za ,zb )

SBDTypeDualQuaternion::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
)

function biconjugate#

Returns the bi-conjugate of the dual quaternion.

SBDTypeDualQuaternion SBDTypeDualQuaternion::biconjugate () const

function conjugate#

Returns the conjugate of the dual quaternion.

SBDTypeDualQuaternion SBDTypeDualQuaternion::conjugate () const

function isSerializable#

Returns true.

virtual bool SBDTypeDualQuaternion::isSerializable () const

function norm#

Returns the norm of the dual quaternion.

SBDTypeDual SBDTypeDualQuaternion::norm () const

function normalize#

Normalizes the dual quaternion.

void SBDTypeDualQuaternion::normalize ()

function normalizedVersion#

Returns the normalized version of the dual quaternion.

SBDTypeDualQuaternion SBDTypeDualQuaternion::normalizedVersion () const

function operator*#

Returns the product of this dual quaternion with dual quaternion d .

SBDTypeDualQuaternion SBDTypeDualQuaternion::operator* (
    const SBDTypeDualQuaternion & d
) const

function operator*#

Returns the product of this dual quaternion with double d .

SBDTypeDualQuaternion SBDTypeDualQuaternion::operator* (
    double d
) const

function operator*#

Returns the product of this dual quaternion with dimensionless quantity d .

SBDTypeDualQuaternion SBDTypeDualQuaternion::operator* (
    const SBQuantity::dimensionless & d
) const

function operator*=#

Multiplies this dual quaternion with dual quaternion d .

SBDTypeDualQuaternion & SBDTypeDualQuaternion::operator*= (
    const SBDTypeDualQuaternion & d
)

function operator*=#

Multiplies this dual quaternion with double d .

SBDTypeDualQuaternion & SBDTypeDualQuaternion::operator*= (
    double d
)

function operator*=#

Multiplies this dual quaternion with dimensionless quantity d .

SBDTypeDualQuaternion & SBDTypeDualQuaternion::operator*= (
    const SBQuantity::dimensionless & d
)

function operator+#

Returns the sum of this dual quaternion with dual quaternion d .

SBDTypeDualQuaternion SBDTypeDualQuaternion::operator+ (
    const SBDTypeDualQuaternion & d
) const

function operator+=#

Adds dual quaternion d to this dual quaternion.

SBDTypeDualQuaternion & SBDTypeDualQuaternion::operator+= (
    const SBDTypeDualQuaternion & d
)

function operator-#

Returns the difference between this dual quaternion and dual quaternion d .

SBDTypeDualQuaternion SBDTypeDualQuaternion::operator- (
    const SBDTypeDualQuaternion & d
) const

function operator-=#

Subtracts dual quaternion d from this dual quaternion.

SBDTypeDualQuaternion & SBDTypeDualQuaternion::operator-= (
    const SBDTypeDualQuaternion & d
)

function print#

Prints the dual quaternion.

void SBDTypeDualQuaternion::print () const

function serialize#

Serializes the dual quaternion.

virtual void SBDTypeDualQuaternion::serialize (
    SBCSerializer * serializer,
    const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER
) const

function unserialize#

Unserializes the dual quaternion.

virtual void SBDTypeDualQuaternion::unserialize (
    SBCSerializer * serializer,
    const SBVersionNumber & sdkVersionNumber=SB_SDK_VERSION_NUMBER
)