69 |
|
|
70 |
|
/** Constructs and initializes a Quaternion from w, x, y, z values */ |
71 |
|
Quaternion(Real w, Real x, Real y, Real z) { |
72 |
< |
data_[0] = w; |
73 |
< |
data_[1] = x; |
74 |
< |
data_[2] = y; |
75 |
< |
data_[3] = z; |
72 |
> |
this->data_[0] = w; |
73 |
> |
this->data_[1] = x; |
74 |
> |
this->data_[2] = y; |
75 |
> |
this->data_[3] = z; |
76 |
|
} |
77 |
|
|
78 |
|
/** Constructs and initializes a Quaternion from a Vector<Real,4> */ |
95 |
|
* @return the value of the first element of this quaternion |
96 |
|
*/ |
97 |
|
Real w() const { |
98 |
< |
return data_[0]; |
98 |
> |
return this->data_[0]; |
99 |
|
} |
100 |
|
|
101 |
|
/** |
103 |
|
* @return the reference of the first element of this quaternion |
104 |
|
*/ |
105 |
|
Real& w() { |
106 |
< |
return data_[0]; |
106 |
> |
return this->data_[0]; |
107 |
|
} |
108 |
|
|
109 |
|
/** |
111 |
|
* @return the value of the first element of this quaternion |
112 |
|
*/ |
113 |
|
Real x() const { |
114 |
< |
return data_[1]; |
114 |
> |
return this->data_[1]; |
115 |
|
} |
116 |
|
|
117 |
|
/** |
119 |
|
* @return the reference of the second element of this quaternion |
120 |
|
*/ |
121 |
|
Real& x() { |
122 |
< |
return data_[1]; |
122 |
> |
return this->data_[1]; |
123 |
|
} |
124 |
|
|
125 |
|
/** |
127 |
|
* @return the value of the third element of this quaternion |
128 |
|
*/ |
129 |
|
Real y() const { |
130 |
< |
return data_[2]; |
130 |
> |
return this->data_[2]; |
131 |
|
} |
132 |
|
|
133 |
|
/** |
135 |
|
* @return the reference of the third element of this quaternion |
136 |
|
*/ |
137 |
|
Real& y() { |
138 |
< |
return data_[2]; |
138 |
> |
return this->data_[2]; |
139 |
|
} |
140 |
|
|
141 |
|
/** |
143 |
|
* @return the value of the fourth element of this quaternion |
144 |
|
*/ |
145 |
|
Real z() const { |
146 |
< |
return data_[3]; |
146 |
> |
return this->data_[3]; |
147 |
|
} |
148 |
|
/** |
149 |
|
* Returns the reference of the fourth element of this quaternion. |
150 |
|
* @return the reference of the fourth element of this quaternion |
151 |
|
*/ |
152 |
|
Real& z() { |
153 |
< |
return data_[3]; |
153 |
> |
return this->data_[3]; |
154 |
|
} |
155 |
|
|
156 |
|
/** |
161 |
|
inline bool operator ==(const Quaternion<Real>& q) { |
162 |
|
|
163 |
|
for (unsigned int i = 0; i < 4; i ++) { |
164 |
< |
if (!equal(data_[i], q[i])) { |
164 |
> |
if (!equal(this->data_[i], q[i])) { |
165 |
|
return false; |
166 |
|
} |
167 |
|
} |
194 |
|
void mul(const Quaternion<Real>& q) { |
195 |
|
Quaternion<Real> tmp(*this); |
196 |
|
|
197 |
< |
data_[0] = (tmp[0]*q[0]) -(tmp[1]*q[1]) - (tmp[2]*q[2]) - (tmp[3]*q[3]); |
198 |
< |
data_[1] = (tmp[0]*q[1]) + (tmp[1]*q[0]) + (tmp[2]*q[3]) - (tmp[3]*q[2]); |
199 |
< |
data_[2] = (tmp[0]*q[2]) + (tmp[2]*q[0]) + (tmp[3]*q[1]) - (tmp[1]*q[3]); |
200 |
< |
data_[3] = (tmp[0]*q[3]) + (tmp[3]*q[0]) + (tmp[1]*q[2]) - (tmp[2]*q[1]); |
197 |
> |
this->data_[0] = (tmp[0]*q[0]) -(tmp[1]*q[1]) - (tmp[2]*q[2]) - (tmp[3]*q[3]); |
198 |
> |
this->data_[1] = (tmp[0]*q[1]) + (tmp[1]*q[0]) + (tmp[2]*q[3]) - (tmp[3]*q[2]); |
199 |
> |
this->data_[2] = (tmp[0]*q[2]) + (tmp[2]*q[0]) + (tmp[3]*q[1]) - (tmp[1]*q[3]); |
200 |
> |
this->data_[3] = (tmp[0]*q[3]) + (tmp[3]*q[0]) + (tmp[1]*q[2]) - (tmp[2]*q[1]); |
201 |
|
} |
202 |
|
|
203 |
|
void mul(const Real& s) { |
204 |
< |
data_[0] *= s; |
205 |
< |
data_[1] *= s; |
206 |
< |
data_[2] *= s; |
207 |
< |
data_[3] *= s; |
204 |
> |
this->data_[0] *= s; |
205 |
> |
this->data_[1] *= s; |
206 |
> |
this->data_[2] *= s; |
207 |
> |
this->data_[3] *= s; |
208 |
|
} |
209 |
|
|
210 |
|
/** Set the value of this quaternion to the division of itself by another quaternion */ |
213 |
|
} |
214 |
|
|
215 |
|
void div(const Real& s) { |
216 |
< |
data_[0] /= s; |
217 |
< |
data_[1] /= s; |
218 |
< |
data_[2] /= s; |
219 |
< |
data_[3] /= s; |
216 |
> |
this->data_[0] /= s; |
217 |
> |
this->data_[1] /= s; |
218 |
> |
this->data_[2] /= s; |
219 |
> |
this->data_[3] /= s; |
220 |
|
} |
221 |
|
|
222 |
|
Quaternion<Real>& operator *=(const Quaternion<Real>& q) { |
258 |
|
Real y2; |
259 |
|
Real z2; |
260 |
|
|
261 |
< |
if (!isNormalized()) |
262 |
< |
normalize(); |
261 |
> |
if (!this->isNormalized()) |
262 |
> |
this->normalize(); |
263 |
|
|
264 |
|
w2 = w() * w(); |
265 |
|
x2 = x() * x(); |