quaternion Struct Reference

Quaternion, scalar last, using x, y, z. More...

#include <vector.h>

Collaboration diagram for quaternion:

Public Member Functions
	quaternion ()
	quaternion (cvector td, double tw)
json11::Json	to_json () const
	Convert class contents to JSON object. More...
void	from_json (const string &s)
	Set class contents from JSON string. More...

Public Attributes
cvector	d
	Orientation. More...
double	w = 0.
	Rotation. More...

Detailed Description

Quaternion, scalar last, using x, y, z.

Can be thought of as rvector with scalar last. One can be set equal to other. First 3 elements are the scaled orientation axis. Fourth element is the scaled amount of rotation. Can alternatively be thought of as a cvector, followed by a scalar.

Constructor & Destructor Documentation

quaternion::quaternion ( )

inline

{}

quaternion::quaternion ( cvector  td, double  tw  )

inline

                                      {
        d = td;
        w = tw;
    }

Member Function Documentation

json11::Json quaternion::to_json ( ) const

inline

Convert class contents to JSON object.

Returns a json11 JSON object of the class

Returns

A json11 JSON object containing every member variable within the class

                               {
        return json11::Json::object {
            { "d" , d },
            { "w" , w }
        };
    }

void quaternion::from_json ( const string &  s )

inline

Set class contents from JSON string.

Parses the provided JSON-formatted string and sets the class data. String should be formatted like the string returned from to_json()

Parameters

s	JSON-formatted string to set class contents to

Returns

n/a

                                    {
        string error;
        json11::Json parsed = json11::Json::parse(s,error);
        if(error.empty()) {
            if(!parsed["d"].is_null())  d.from_json(parsed["d"].dump());
            if(!parsed["w"].is_null())  w = parsed["w"].number_value();
        } else  {
            cerr<<"ERROR: <"<<error<<">"<<endl;
        }
        return;
    }

Member Data Documentation

cvector quaternion::d

Orientation.

double quaternion::w = 0.

Rotation.

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

• vector.h