#include <cmath>
#include <type_traits>

Include dependency graph for DualQuaternion.hpp:

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Classes
class	Quaternion
	Quaternions are an extension of real numbers used to represent rotations in 3D. More...

class	DualQuaternion

Functions
const Quaternion	operator+ (const Quaternion &a, const Quaternion &b)
	Returns a Quaternion that is the sum of quaternions a and b (component-wise sum). More...

const Quaternion	operator* (const Quaternion &a, const Quaternion &b)
	Quaternion multiplication. More...

const Quaternion	conjugate (const Quaternion &q)

const DualQuaternion	operator* (const DualQuaternion &a, const DualQuaternion &b)

const DualQuaternion	conjugateDual (const DualQuaternion &dq)

Function Documentation

const Quaternion conjugate ( const Quaternion & q )

inline

const DualQuaternion conjugateDual ( const DualQuaternion & dq )

inline

Both quaternion and dual number conjugation.

const Quaternion operator*	(	const Quaternion &	a,
		const Quaternion &	b
	)

inline

Quaternion multiplication.

const DualQuaternion operator*	(	const DualQuaternion &	a,
		const DualQuaternion &	b
	)

inline

In short: the idea of POD (plain old datatypes) classes is to support static initialization and have the same memory layout as in C. C++11 says a class is POD if it is both trivial and standard layout. It is ok to use memcpy over trivial classes. Standard layout class has the same memory layout as the equivalent C struct.

a*b = (a0 + eps*ae)*(b0 + eps*be) = a0*b0 + eps*(a0*be + ae*b0)

const Quaternion operator+	(	const Quaternion &	a,
		const Quaternion &	b
	)

inline

Returns a Quaternion that is the sum of quaternions a and b (component-wise sum).

Classes

Functions

Function Documentation