Quaternion.cc File Reference

#include "Math/Quaternion.h"
#include "ExtendedMath.h"

Functions
std::ostream &	operator<< (std::ostream &os, const Quaternion &a)
std::istream &	operator>> (std::istream &is, Quaternion &a)
Quaternion	operator+ (const Mdouble a, const Quaternion &b)
Quaternion	operator- (const Mdouble a, const Quaternion &b)
Quaternion	operator- (const Quaternion &a)
Quaternion	operator* (const Mdouble a, const Quaternion &b)

Function Documentation

operator*()

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

Multiplies each element of a given quaternion (b) by a given scalar (a). NB: this is a global function and a friend of the Quaternion class. Gets called when a scalar multiplication of the form (Mdouble) * (Quaternion) is performed.

Parameters

[in]	a	the scalar
[in]	b	the quaternion

Returns

the resulting quaternion

{
    return Quaternion(b.q0 * a, b.q1 * a, b.q2 * a, b.q3 * a);
}

operator+()

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

Adds a scalar to the elements of given quaternion NB this is a global function and a friend of the Quaternion class. Gets called when addition operation of the form (Mdouble) + (Quaternion) is performed.

Parameters

[in]	a	the scalar to be added
[in]	b	the quaternion the scalar gets added to.

Returns

the resulting quaternion.

{
    return Quaternion(b.q0 + a, b.q1 + a, b.q2 + a, b.q3 + a);
}

operator-() [1/2]

Quaternion operator-	(	const Mdouble	a,
		const Quaternion &	b
	)

Subtracts each element of a given quaternion from a scalar NB this is a global function and a friend of the Quaternion class. Gets called when subtraction operation of the form (Mdouble) - (Quaternion) is performed.

Parameters

[in]	a	the scalar
[in]	b	the quaternion to be subtracted the scalar gets subtracted from.

Returns

the resulting quaternion.

{
    return Quaternion(a - b.q0, a - b.q1, a - b.q2, a - b.q3);
}

operator-() [2/2]

Quaternion operator-

(

const Quaternion &

a

)

Returns the negative of a given quaternion. NB: this is a global function and a friend of the Quaternion class. Gets called when a negation operation of the form - (Quaternion) is performed.

Parameters

[in]

a

the quaternion to be negated

Returns

the negated quaternion

{
    return Quaternion(-a.q0, -a.q1, -a.q2, -a.q3);
}

operator<<()

std::ostream& operator<<	(	std::ostream &	os,
		const Quaternion &	a
	)

Adds all elements of the quaternion to an output stream. NB: this is a global function and a friend of the Quaternion class!

Parameters

[in]	os	the output stream,
[in]	a	The quaternion of interest

Returns

the output stream with quaternion elements added

{
    os << a.q0 << ' ' << a.q1 << ' ' << a.q2 << ' ' << a.q3;
    return os;
}

operator>>()

std::istream& operator>>	(	std::istream &	is,
		Quaternion &	a
	)

Reads all elements of a given quaternion from an input stream. NB: this is a global function and a friend of the Quaternion class!

Parameters

[in,out]	is	the input stream
[in,out]	a	the quaternion to be read in

Returns

the input stream from which the quaternion elements were read

{
    is >> a.q0 >> a.q1 >> a.q2 >> a.q3;
    return is;
}