mrmeshpy.Quaternionf Class Reference

Public Member Functions
Vector3f	__call__ (self, Vector3f p)
Quaternionf	__imatmul__ (self, float s)
None	__init__ (self)
None	__init__ (self, float a, float b, float c, float d)
None	__init__ (self, Vector3f axis, float angle)
None	__init__ (self, float real, Vector3f im)
None	__init__ (self, Matrix3f m)
None	__init__ (self, Vector3f from_, Vector3f to)
None	__init__ (self, Quaternionf arg0)
Quaternionf	__itruediv__ (self, float s)
Quaternionf	__neg__ (self)
float	angle (self)
Vector3f	axis (self)
Quaternionf	conjugate (self)
Vector3f	im (self)
Quaternionf	inverse (self)
float	norm (self)
float	normSq (self)
None	normalize (self)
Quaternionf	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
Quaternionf	lerp (Quaternionf q0, Quaternionf q1, float t)
Quaternionf	slerp (Quaternionf q0, Quaternionf q1, float t)
Matrix3f	slerp (Matrix3f m0, Matrix3f m1, float t)
AffineXf3f	slerp (AffineXf3f xf0, AffineXf3f xf1, float t, Vector3f p='{}')

Protected Member Functions
Matrix3f	_convert_to_Matrix3_float (self)

Detailed Description

Generated from:  MR::Quaternionf

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

Constructor & Destructor Documentation

__init__() [1/7]

None mrmeshpy.Quaternionf.__init__

(

self

)

__init__() [2/7]

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

__init__() [3/7]

None mrmeshpy.Quaternionf.__init__	(		self,
		Vector3f	axis,
		float	angle )

\\related Quaternion
\\{

__init__() [4/7]

None mrmeshpy.Quaternionf.__init__	(		self,
		float	real,
		Vector3f	im )

__init__() [5/7]

None mrmeshpy.Quaternionf.__init__	(		self,
		Matrix3f	m )

__init__() [6/7]

None mrmeshpy.Quaternionf.__init__	(		self,
		Vector3f	from_,
		Vector3f	to )

finds shorter arc rotation quaternion from one vector to another

__init__() [7/7]

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

Implicit copy constructor.

Member Function Documentation

__call__()

Vector3f mrmeshpy.Quaternionf.__call__	(		self,
		Vector3f	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__()

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

__itruediv__()

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

__neg__()

Quaternionf mrmeshpy.Quaternionf.__neg__

(

self

)

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

_convert_to_Matrix3_float()

Matrix3f mrmeshpy.Quaternionf._convert_to_Matrix3_float ( self )

protected

converts this into 3x3 rotation matrix

a() [1/2]

float mrmeshpy.Quaternionf.a

(

self

)

real part of the quaternion

a() [2/2]

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

angle()

float mrmeshpy.Quaternionf.angle

(

self

)

returns angle of rotation encoded in this quaternion

axis()

Vector3f mrmeshpy.Quaternionf.axis

(

self

)

returns axis of rotation encoded in this quaternion

b() [1/2]

float mrmeshpy.Quaternionf.b

(

self

)

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

b() [2/2]

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

c() [1/2]

float mrmeshpy.Quaternionf.c

(

self

)

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

c() [2/2]

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

conjugate()

Quaternionf mrmeshpy.Quaternionf.conjugate

(

self

)

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

d() [1/2]

float mrmeshpy.Quaternionf.d

(

self

)

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

d() [2/2]

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

im()

Vector3f mrmeshpy.Quaternionf.im

(

self

)

returns imaginary part of the quaternion as a vector

inverse()

Quaternionf mrmeshpy.Quaternionf.inverse

(

self

)

computes reciprocal quaternion

lerp()

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

static

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

norm()

float mrmeshpy.Quaternionf.norm

(

self

)

normalize()

None mrmeshpy.Quaternionf.normalize

(

self

)

scales this quaternion to make its norm unit

normalized()

Quaternionf mrmeshpy.Quaternionf.normalized

(

self

)

normSq()

float mrmeshpy.Quaternionf.normSq

(

self

)

slerp() [1/3]

AffineXf3f mrmeshpy.Quaternionf.slerp ( AffineXf3f xf0, AffineXf3f xf1, float t, Vector3f 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]

Matrix3f mrmeshpy.Quaternionf.slerp ( Matrix3f m0, Matrix3f m1, float t )

static

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

slerp() [3/3]

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

static

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

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

• mrmeshpy.pyi