mrmeshpy.Quaterniond Class Reference

Public Member Functions
Vector3d	__call__ (self, Vector3d p)
Quaterniond	__imatmul__ (self, float s)
None	__init__ (self)
None	__init__ (self, float a, float b, float c, float d)
None	__init__ (self, Vector3d axis, float angle)
None	__init__ (self, float real, Vector3d im)
None	__init__ (self, Matrix3d m)
None	__init__ (self, Vector3d from_, Vector3d to)
None	__init__ (self, Quaterniond arg0)
Quaterniond	__itruediv__ (self, float s)
Quaterniond	__neg__ (self)
float	angle (self)
Vector3d	axis (self)
Quaterniond	conjugate (self)
Vector3d	im (self)
Quaterniond	inverse (self)
float	norm (self)
float	normSq (self)
None	normalize (self)
Quaterniond	normalized (self)
float	a (self)
None	a (self, float arg1)
float	b (self)
None	b (self, float arg1)
float	c (self)
None	c (self, float arg1)
float	d (self)
None	d (self, float arg1)

Static Public Member Functions
None	__init__ (*args, **kwargs)
Quaterniond	lerp (Quaterniond q0, Quaterniond q1, float t)
Quaterniond	operator (*args, **kwargs)
Quaterniond	operator (*args, **kwargs)
Quaterniond	slerp (Quaterniond q0, Quaterniond q1, float t)
Matrix3d	slerp (Matrix3d m0, Matrix3d m1, float t)
AffineXf3d	slerp (AffineXf3d xf0, AffineXf3d xf1, float t, Vector3d p='{}')

Static Protected Attributes
typing	_offsetof_a = 0
typing	_offsetof_b = 8
typing	_offsetof_c = 16
typing	_offsetof_d = 24

Detailed Description

Generated from:  MR::Quaterniond

Represents a quaternion following the notations from
https://en.wikipedia.org/wiki/Quaternion

Constructor & Destructor Documentation

__init__() [1/8]

None mrmeshpy.Quaterniond.__init__ ( * args, ** kwargs )

static

__init__() [2/8]

None mrmeshpy.Quaterniond.__init__

(

self

)

__init__() [3/8]

None mrmeshpy.Quaterniond.__init__	(		self,
		float	a,
		float	b,
		float	c,
		float	d )

__init__() [4/8]

None mrmeshpy.Quaterniond.__init__	(		self,
		Vector3d	axis,
		float	angle )

\\related Quaternion

__init__() [5/8]

None mrmeshpy.Quaterniond.__init__	(		self,
		float	real,
		Vector3d	im )

__init__() [6/8]

None mrmeshpy.Quaterniond.__init__	(		self,
		Matrix3d	m )

__init__() [7/8]

None mrmeshpy.Quaterniond.__init__	(		self,
		Vector3d	from_,
		Vector3d	to )

finds shorter arc rotation quaternion from one vector to another

__init__() [8/8]

None mrmeshpy.Quaterniond.__init__	(		self,
		Quaterniond	arg0 )

Implicit copy constructor.

Member Function Documentation

__call__()

Vector3d mrmeshpy.Quaterniond.__call__	(		self,
		Vector3d	p )

for unit quaternion returns the rotation of point p, which is faster to compute for single point;
for multiple points it is faster to create matrix representation and apply it to the points

__imatmul__()

Quaterniond mrmeshpy.Quaterniond.__imatmul__	(		self,
		float	s )

__itruediv__()

Quaterniond mrmeshpy.Quaterniond.__itruediv__	(		self,
		float	s )

__neg__()

Quaterniond mrmeshpy.Quaterniond.__neg__

(

self

)

returns quaternion representing the same rotation, using the opposite rotation direction and opposite angle

a() [1/2]

float mrmeshpy.Quaterniond.a

(

self

)

real part of the quaternion

a() [2/2]

None mrmeshpy.Quaterniond.a	(		self,
		float	arg1 )

angle()

float mrmeshpy.Quaterniond.angle

(

self

)

returns angle of rotation encoded in this quaternion

axis()

Vector3d mrmeshpy.Quaterniond.axis

(

self

)

returns axis of rotation encoded in this quaternion

b() [1/2]

float mrmeshpy.Quaterniond.b

(

self

)

imaginary part: b*i + c*j + d*k

b() [2/2]

None mrmeshpy.Quaterniond.b	(		self,
		float	arg1 )

c() [1/2]

float mrmeshpy.Quaterniond.c

(

self

)

imaginary part: b*i + c*j + d*k

c() [2/2]

None mrmeshpy.Quaterniond.c	(		self,
		float	arg1 )

conjugate()

Quaterniond mrmeshpy.Quaterniond.conjugate

(

self

)

computes conjugate quaternion, which for unit quaternions encodes the opposite rotation

d() [1/2]

float mrmeshpy.Quaterniond.d

(

self

)

imaginary part: b*i + c*j + d*k

d() [2/2]

None mrmeshpy.Quaterniond.d	(		self,
		float	arg1 )

im()

Vector3d mrmeshpy.Quaterniond.im

(

self

)

returns imaginary part of the quaternion as a vector

inverse()

Quaterniond mrmeshpy.Quaterniond.inverse

(

self

)

computes reciprocal quaternion

lerp()

Quaterniond mrmeshpy.Quaterniond.lerp ( Quaterniond q0, Quaterniond q1, float t )

static

given t in [0,1], interpolates linearly two quaternions giving in general not-unit quaternion

norm()

float mrmeshpy.Quaterniond.norm

(

self

)

normalize()

None mrmeshpy.Quaterniond.normalize

(

self

)

scales this quaternion to make its norm unit

normalized()

Quaterniond mrmeshpy.Quaterniond.normalized

(

self

)

normSq()

float mrmeshpy.Quaterniond.normSq

(

self

)

operator() [1/2]

Quaterniond mrmeshpy.Quaterniond.operator ( * args, ** kwargs )

static

operator() [2/2]

Quaterniond mrmeshpy.Quaterniond.operator ( * args, ** kwargs )

static

slerp() [1/3]

AffineXf3d mrmeshpy.Quaterniond.slerp ( AffineXf3d xf0, AffineXf3d xf1, float t, Vector3d p = '{}' )

static

given t in [0,1] and rigid transformations, interpolates them spherically and produces another rigid transformation;
p is the only point that will have straight line movement during interpolation

slerp() [2/3]

Matrix3d mrmeshpy.Quaterniond.slerp ( Matrix3d m0, Matrix3d m1, float t )

static

given t in [0,1] and two rotation matrices, interpolates them spherically and produces another rotation matrix

slerp() [3/3]

Quaterniond mrmeshpy.Quaterniond.slerp ( Quaterniond q0, Quaterniond q1, float t )

static

given t in [0,1] and two unit quaternions, interpolates them spherically and produces another unit quaternion

Member Data Documentation

_offsetof_a

typing mrmeshpy.Quaterniond._offsetof_a = 0

staticprotected

_offsetof_b

typing mrmeshpy.Quaterniond._offsetof_b = 8

staticprotected

_offsetof_c

typing mrmeshpy.Quaterniond._offsetof_c = 16

staticprotected

_offsetof_d

typing mrmeshpy.Quaterniond._offsetof_d = 24

staticprotected

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

• mrmeshpy.pyi