Struct nalgebra::UnitQuaternion

pub struct UnitQuaternion<N> { /* fields omitted */ }

A unit quaternion that can represent a 3D rotation.

Methods

impl<N: BaseFloat> UnitQuaternion<N>

fn new(axisangle: Vector3<N>) -> UnitQuaternion<N>

Creates a new unit quaternion from the axis-angle representation of a rotation.

fn new_with_quaternion(q: Quaternion<N>) -> UnitQuaternion<N>

Creates a new unit quaternion from a quaternion.

The input quaternion will be normalized.

fn new_with_euler_angles(roll: N, pitch: N, yaw: N) -> UnitQuaternion<N>

Creates a new unit quaternion from Euler angles.

The primitive rotations are applied in order: 1 roll − 2 pitch − 3 yaw.

fn to_rotation_matrix(&self) -> Rotation3<N>

Builds a rotation matrix from this quaternion.

impl<N> UnitQuaternion<N>

unsafe fn new_with_unit_quaternion(q: Quaternion<N>) -> UnitQuaternion<N>

Creates a new unit quaternion from a quaternion.

This is unsafe because the input quaternion will not be normalized.

fn quaternion<'a>(&'a self) -> &'a Quaternion<N>

The Quaternion representation of this unit quaternion.

Trait Implementations

impl<N: Eq> Eq for UnitQuaternion<N>

impl<N: PartialEq> PartialEq for UnitQuaternion<N>

fn eq(&self, __arg_0: &UnitQuaternion<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, __arg_0: &UnitQuaternion<N>) -> bool

This method tests for !=.

impl<N: Encodable> Encodable for UnitQuaternion<N>

fn encode<__SN: Encoder>(&self, __arg_0: &mut __SN) -> Result<(), __SN::Error>

impl<N: Decodable> Decodable for UnitQuaternion<N>

fn decode<__DN: Decoder>(__arg_0: &mut __DN) -> Result<UnitQuaternion<N>, __DN::Error>

impl<N: Clone> Clone for UnitQuaternion<N>

fn clone(&self) -> UnitQuaternion<N>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Hash> Hash for UnitQuaternion<N>

fn hash<__HN: Hasher>(&self, __arg_0: &mut __HN)

Feeds this value into the state given, updating the hasher as necessary.

fn hash_slice<H>(data: &[Self], state: &mut H) where H: Hasher

Feeds a slice of this type into the state provided.

impl<N: Debug> Debug for UnitQuaternion<N>

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<N: Copy> Copy for UnitQuaternion<N>

impl<N: BaseNum> One for UnitQuaternion<N>

fn one() -> UnitQuaternion<N>

Returns the multiplicative identity element of Self, 1.

impl<N: Copy + Neg<Output=N>> Inverse for UnitQuaternion<N>

fn inverse(&self) -> Option<UnitQuaternion<N>>

Returns the inverse of m.

fn inverse_mut(&mut self) -> bool

In-place version of inverse.

impl<N: Rand + BaseFloat> Rand for UnitQuaternion<N>

fn rand<R: Rng>(rng: &mut R) -> UnitQuaternion<N>

Generates a random instance of this type using the specified source of randomness.

impl<N: ApproxEq<N>> ApproxEq<N> for UnitQuaternion<N>

fn approx_epsilon(_: Option<UnitQuaternion<N>>) -> N

Default epsilon for approximation.

fn approx_ulps(_: Option<UnitQuaternion<N>>) -> u32

Default ULPs for approximation.

fn approx_eq_eps(&self, other: &UnitQuaternion<N>, eps: &N) -> bool

Tests approximate equality using a custom epsilon.

fn approx_eq_ulps(&self, other: &UnitQuaternion<N>, ulps: u32) -> bool

Tests approximate equality using units in the last place (ULPs)

fn approx_eq(&self, other: &Self) -> bool

Tests approximate equality.

impl<N: BaseFloat + ApproxEq<N>> Div<UnitQuaternion<N>> for UnitQuaternion<N>

type Output = UnitQuaternion<N>

The resulting type after applying the / operator

fn div(self, other: UnitQuaternion<N>) -> UnitQuaternion<N>

The method for the / operator

impl<N: BaseFloat + ApproxEq<N>> DivAssign<UnitQuaternion<N>> for UnitQuaternion<N>

fn div_assign(&mut self, other: UnitQuaternion<N>)

The method for the /= operator

impl<N: BaseNum> Mul<UnitQuaternion<N>> for UnitQuaternion<N>

type Output = UnitQuaternion<N>

The resulting type after applying the * operator

fn mul(self, right: UnitQuaternion<N>) -> UnitQuaternion<N>

The method for the * operator

impl<N: BaseNum> MulAssign<UnitQuaternion<N>> for UnitQuaternion<N>

fn mul_assign(&mut self, right: UnitQuaternion<N>)

The method for the *= operator

impl<N: BaseNum> Mul<Vector3<N>> for UnitQuaternion<N>

type Output = Vector3<N>

The resulting type after applying the * operator

fn mul(self, right: Vector3<N>) -> Vector3<N>

The method for the * operator

impl<N: BaseNum> Mul<Point3<N>> for UnitQuaternion<N>

type Output = Point3<N>

The resulting type after applying the * operator

fn mul(self, right: Point3<N>) -> Point3<N>

The method for the * operator

impl<N: BaseFloat> Rotation<Vector3<N>> for UnitQuaternion<N>

fn rotation(&self) -> Vector3<N>

Gets the rotation associated with self.

fn inverse_rotation(&self) -> Vector3<N>

Gets the inverse rotation associated with self.

fn append_rotation_mut(&mut self, amount: &Vector3<N>)

Appends a rotation to this object.

fn append_rotation(&self, amount: &Vector3<N>) -> UnitQuaternion<N>

Appends the rotation amount to a copy of t.

fn prepend_rotation_mut(&mut self, amount: &Vector3<N>)

Prepends a rotation to this object.

fn prepend_rotation(&self, amount: &Vector3<N>) -> UnitQuaternion<N>

Prepends the rotation amount to a copy of t.

fn set_rotation(&mut self, v: Vector3<N>)

Sets the rotation of self.

impl<N: BaseFloat> RotationMatrix<N, Vector3<N>, Vector3<N>> for UnitQuaternion<N>

type Output = Rotation3<N>

The output rotation matrix type.

fn to_rotation_matrix(&self) -> Rotation3<N>

Gets the rotation matrix represented by self.

impl<N: BaseNum + Neg<Output=N>> Rotate<Vector3<N>> for UnitQuaternion<N>

fn rotate(&self, v: &Vector3<N>) -> Vector3<N>

Applies a rotation to v.

fn inverse_rotate(&self, v: &Vector3<N>) -> Vector3<N>

Applies an inverse rotation to v.

impl<N: BaseNum + Neg<Output=N>> Rotate<Point3<N>> for UnitQuaternion<N>

fn rotate(&self, p: &Point3<N>) -> Point3<N>

Applies a rotation to v.

fn inverse_rotate(&self, p: &Point3<N>) -> Point3<N>

Applies an inverse rotation to v.

impl<N: BaseFloat + ApproxEq<N>> RotationTo for UnitQuaternion<N>

type AngleType = N

Type of the angle between two elements.

type DeltaRotationType = UnitQuaternion<N>

Type of the rotation between two elements.

fn angle_to(&self, other: &Self) -> N

Computes an angle nedded to transform the first element to the second one using a rotation.

fn rotation_to(&self, other: &Self) -> UnitQuaternion<N>

Computes the smallest rotation needed to transform the first element to the second one.

impl<N: BaseNum + Neg<Output=N>> Transform<Vector3<N>> for UnitQuaternion<N>

fn transform(&self, v: &Vector3<N>) -> Vector3<N>

Applies a transformation to v.

fn inverse_transform(&self, v: &Vector3<N>) -> Vector3<N>

Applies an inverse transformation to v.

impl<N: BaseNum + Neg<Output=N>> Transform<Point3<N>> for UnitQuaternion<N>

fn transform(&self, p: &Point3<N>) -> Point3<N>

Applies a transformation to v.

fn inverse_transform(&self, p: &Point3<N>) -> Point3<N>

Applies an inverse transformation to v.

impl<N: Display> Display for UnitQuaternion<N>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<N> Dimension for UnitQuaternion<N>

fn dimension(_: Option<UnitQuaternion<N>>) -> usize

The dimension of the object.