minitensor::Quaternion< T > Class Template Reference

#include <MiniTensor_Quaternion.h>

Public Member Functions
KOKKOS_INLINE_FUNCTION	Quaternion ()
KOKKOS_INLINE_FUNCTION	Quaternion (T const &s, Vector< T, 3 > const &v)
KOKKOS_INLINE_FUNCTION	Quaternion (T const &s, T const &v0, T const &v1, T const &v2)
KOKKOS_INLINE_FUNCTION	Quaternion (Vector< T, 4 > const &q)
KOKKOS_INLINE_FUNCTION T const &	scalar () const
KOKKOS_INLINE_FUNCTION T &	scalar ()
KOKKOS_INLINE_FUNCTION Vector< T, 3 > const &	vector () const
KOKKOS_INLINE_FUNCTION Vector< T, 3 > &	vector ()
KOKKOS_INLINE_FUNCTION T const &	operator() (Index const i) const
KOKKOS_INLINE_FUNCTION T &	operator() (Index const i)
KOKKOS_INLINE_FUNCTION Vector< T, 4 >	to_vector () const

Private Attributes
T	s_ {}
Vector< T, 3 >	v_

Detailed Description

template<typename T>
class minitensor::Quaternion< T >

Quaternion class. Scalar-first convention: the quaternion \( q = (q_s; q_v) \) has scalar part \( q_s \) and vector part \( q_v \in R^3 \). A unit quaternion encodes the rotation by angle \( \theta \) about the unit axis \( n \) as \( q_s = \cos(\theta/2) \), \( q_v = \sin(\theta/2)\, n \).

Definition at line 72 of file MiniTensor_Quaternion.h.

Constructor & Destructor Documentation

Quaternion() [1/4]

template<typename T >

KOKKOS_INLINE_FUNCTION minitensor::Quaternion< T >::Quaternion ( )

inline

Default construction: identity quaternion \( (1; 0, 0, 0) \).

Definition at line 80 of file MiniTensor_Quaternion.h.

Quaternion() [2/4]

template<typename T >

KOKKOS_INLINE_FUNCTION minitensor::Quaternion< T >::Quaternion ( T const &  s, Vector< T, 3 > const &  v  )

inline

Construction from scalar and vector parts.

Parameters

s	scalar part
v	vector part

Definition at line 90 of file MiniTensor_Quaternion.h.

Quaternion() [3/4]

template<typename T >

KOKKOS_INLINE_FUNCTION minitensor::Quaternion< T >::Quaternion ( T const &  s, T const &  v0, T const &  v1, T const &  v2  )

inline

Construction from four components, scalar first.

Parameters

s	scalar part
v0	first component of the vector part
v1	second component of the vector part
v2	third component of the vector part

Definition at line 102 of file MiniTensor_Quaternion.h.

Quaternion() [4/4]

template<typename T >

KOKKOS_INLINE_FUNCTION minitensor::Quaternion< T >::Quaternion ( Vector< T, 4 > const &  q )

inlineexplicit

Construction from a 4-vector in scalar-first order.

Parameters

q	4-vector \( (q_s, q_{v0}, q_{v1}, q_{v2}) \)

Definition at line 113 of file MiniTensor_Quaternion.h.

Member Function Documentation

scalar() [1/2]

template<typename T >

KOKKOS_INLINE_FUNCTION T const & minitensor::Quaternion< T >::scalar ( ) const

inline

Scalar part.

Definition at line 122 of file MiniTensor_Quaternion.h.

scalar() [2/2]

template<typename T >

KOKKOS_INLINE_FUNCTION T & minitensor::Quaternion< T >::scalar ( )

inline

Scalar part, mutable.

Definition at line 132 of file MiniTensor_Quaternion.h.

vector() [1/2]

template<typename T >

KOKKOS_INLINE_FUNCTION Vector< T, 3 > const & minitensor::Quaternion< T >::vector ( ) const

inline

Vector part.

Definition at line 142 of file MiniTensor_Quaternion.h.

vector() [2/2]

template<typename T >

KOKKOS_INLINE_FUNCTION Vector< T, 3 > & minitensor::Quaternion< T >::vector ( )

inline

Vector part, mutable.

Definition at line 152 of file MiniTensor_Quaternion.h.

operator()() [1/2]

template<typename T >

KOKKOS_INLINE_FUNCTION T const & minitensor::Quaternion< T >::operator() ( Index const  i ) const

inline

Indexed access, scalar first.

Parameters

i	component index: 0 is the scalar part, 1..3 the vector part

Definition at line 163 of file MiniTensor_Quaternion.h.

operator()() [2/2]

template<typename T >

KOKKOS_INLINE_FUNCTION T & minitensor::Quaternion< T >::operator() ( Index const  i )

inline

Indexed access, scalar first, mutable.

Parameters

i	component index: 0 is the scalar part, 1..3 the vector part

Definition at line 175 of file MiniTensor_Quaternion.h.

to_vector()

template<typename T >

KOKKOS_INLINE_FUNCTION Vector< T, 4 > minitensor::Quaternion< T >::to_vector ( ) const

inline

Components as a 4-vector in scalar-first order.

Definition at line 186 of file MiniTensor_Quaternion.h.

Member Data Documentation

s_

template<typename T >

T minitensor::Quaternion< T >::s_ {}

private

Scalar part.

Definition at line 205 of file MiniTensor_Quaternion.h.

v_

template<typename T >

Vector<T, 3> minitensor::Quaternion< T >::v_

private

Vector part.

Definition at line 211 of file MiniTensor_Quaternion.h.

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

• MiniTensor_Quaternion.h