/usr/include/oce/gp_Quaternion.hxx is in liboce-foundation-dev 0.17.2-2.
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// Please do not edit this file; modify original file instead.
// The copyright and license terms as defined for the original file apply to
// this header file considered to be the "object code" form of the original source.
#ifndef _gp_Quaternion_HeaderFile
#define _gp_Quaternion_HeaderFile
#include <Standard.hxx>
#include <Standard_DefineAlloc.hxx>
#include <Standard_Macro.hxx>
#include <Standard_Real.hxx>
#include <Standard_Boolean.hxx>
#include <gp_EulerSequence.hxx>
#include <gp_Vec.hxx>
class gp_Vec;
class gp_Mat;
//! Represents operation of rotation in 3d space as queternion
//! and implements operations with rotations basing on
//! quaternion mathematics.
//!
//! In addition, provides methods for conversion to and from other
//! representatons of rotation (3*3 matrix, vector and
//! angle, Euler angles)
class gp_Quaternion
{
public:
DEFINE_STANDARD_ALLOC
//! Creates an identity quaternion
gp_Quaternion();
//! Creates quaternion directly from component values
Standard_EXPORT gp_Quaternion(const Standard_Real x, const Standard_Real y, const Standard_Real z, const Standard_Real w);
//! Creates copy of another quaternion
Standard_EXPORT gp_Quaternion(const gp_Quaternion& theToCopy);
//! Creates quaternion representing shortest-arc rotation
//! operator producing vector theVecTo from vector theVecFrom.
Standard_EXPORT gp_Quaternion(const gp_Vec& theVecFrom, const gp_Vec& theVecTo);
//! Creates quaternion representing shortest-arc rotation
//! operator producing vector theVecTo from vector theVecFrom.
//! Additional vector theHelpCrossVec defines preferred direction for
//! rotation and is used when theVecTo and theVecFrom are directed
//! oppositely.
Standard_EXPORT gp_Quaternion(const gp_Vec& theVecFrom, const gp_Vec& theVecTo, const gp_Vec& theHelpCrossVec);
//! Creates quaternion representing rotation on angle
//! theAngle around vector theAxis
Standard_EXPORT gp_Quaternion(const gp_Vec& theAxis, const Standard_Real theAngle);
//! Creates quaternion from rotation matrix 3*3
//! (which should be orthonormal skew-symmetric matrix)
Standard_EXPORT gp_Quaternion(const gp_Mat& theMat);
//! Simple equal test without precision
Standard_EXPORT Standard_Boolean IsEqual (const gp_Quaternion& theOther) const;
//! Sets quaternion to shortest-arc rotation producing
//! vector theVecTo from vector theVecFrom.
//! If vectors theVecFrom and theVecTo are opposite then rotation
//! axis is computed as theVecFrom ^ (1,0,0) or theVecFrom ^ (0,0,1).
Standard_EXPORT void SetRotation (const gp_Vec& theVecFrom, const gp_Vec& theVecTo) ;
//! Sets quaternion to shortest-arc rotation producing
//! vector theVecTo from vector theVecFrom.
//! If vectors theVecFrom and theVecTo are opposite then rotation
//! axis is computed as theVecFrom ^ theHelpCrossVec.
Standard_EXPORT void SetRotation (const gp_Vec& theVecFrom, const gp_Vec& theVecTo, const gp_Vec& theHelpCrossVec) ;
//! Create a unit quaternion from Axis+Angle representation
Standard_EXPORT void SetVectorAndAngle (const gp_Vec& theAxis, const Standard_Real theAngle) ;
//! Convert a quaternion to Axis+Angle representation,
//! preserve the axis direction and angle from -PI to +PI
Standard_EXPORT void GetVectorAndAngle (gp_Vec& theAxis, Standard_Real& theAngle) const;
//! Create a unit quaternion by rotation matrix
//! matrix must contain only rotation (not scale or shear)
//!
//! For numerical stability we find first the greatest component of quaternion
//! and than search others from this one
Standard_EXPORT void SetMatrix (const gp_Mat& theMat) ;
//! Returns rotation operation as 3*3 matrix
Standard_EXPORT gp_Mat GetMatrix() const;
//! Create a unit quaternion representing rotation defined
//! by generalized Euler angles
Standard_EXPORT void SetEulerAngles (const gp_EulerSequence theOrder, const Standard_Real theAlpha, const Standard_Real theBeta, const Standard_Real theGamma) ;
//! Returns Euler angles describing current rotation
Standard_EXPORT void GetEulerAngles (const gp_EulerSequence theOrder, Standard_Real& theAlpha, Standard_Real& theBeta, Standard_Real& theGamma) const;
Standard_EXPORT void Set (const Standard_Real x, const Standard_Real y, const Standard_Real z, const Standard_Real w) ;
Standard_EXPORT void Set (const gp_Quaternion& theQuaternion) ;
Standard_EXPORT Standard_Real X() const;
Standard_EXPORT Standard_Real Y() const;
Standard_EXPORT Standard_Real Z() const;
Standard_EXPORT Standard_Real W() const;
//! Make identity quaternion (zero-rotation)
Standard_EXPORT void SetIdent() ;
//! Reverse direction of rotation (conjugate quaternion)
Standard_EXPORT void Reverse() ;
//! Return rotation with reversed direction (conjugated quaternion)
Standard_EXPORT gp_Quaternion Reversed() const;
//! Inverts quaternion (both rotation direction and norm)
Standard_EXPORT void Invert() ;
//! Return inversed quaternion q^-1
Standard_EXPORT gp_Quaternion Inverted() const;
//! Returns square norm of quaternion
Standard_EXPORT Standard_Real SquareNorm() const;
//! Returns norm of quaternion
Standard_EXPORT Standard_Real Norm() const;
//! Scale all components by quaternion by theScale; note that
//! rotation is not changed by this operation (except 0-scaling)
Standard_EXPORT void Scale (const Standard_Real theScale) ;
void operator *= (const Standard_Real theScale)
{
Scale(theScale);
}
//! Returns scaled quaternion
Standard_EXPORT gp_Quaternion Scaled (const Standard_Real theScale) const;
gp_Quaternion operator * (const Standard_Real theScale) const
{
return Scaled(theScale);
}
//! Stabilize quaternion length within 1 - 1/4.
//! This operation is a lot faster than normalization
//! and preserve length goes to 0 or infinity
Standard_EXPORT void StabilizeLength() ;
//! Scale quaternion that its norm goes to 1.
//! The appearing of 0 magnitude or near is a error,
//! so we can be sure that can divide by magnitude
Standard_EXPORT void Normalize() ;
//! Returns quaternion scaled so that its norm goes to 1.
Standard_EXPORT gp_Quaternion Normalized() const;
//! Returns quaternion with all components negated.
//! Note that this operation does not affect neither
//! rotation operator defined by quaternion nor its norm.
Standard_EXPORT gp_Quaternion Negated() const;
gp_Quaternion operator -() const
{
return Negated();
}
//! Makes sum of quaternion components; result is "rotations mix"
Standard_EXPORT gp_Quaternion Added (const gp_Quaternion& theOther) const;
gp_Quaternion operator + (const gp_Quaternion& theOther) const
{
return Added(theOther);
}
//! Makes difference of quaternion components; result is "rotations mix"
Standard_EXPORT gp_Quaternion Subtracted (const gp_Quaternion& theOther) const;
gp_Quaternion operator - (const gp_Quaternion& theOther) const
{
return Subtracted(theOther);
}
//! Multiply function - work the same as Matrices multiplying.
//! qq' = (cross(v,v') + wv' + w'v, ww' - dot(v,v'))
//! Result is rotation combination: q' than q (here q=this, q'=theQ).
//! Notices than:
//! qq' != q'q;
//! qq^-1 = q;
Standard_EXPORT gp_Quaternion Multiplied (const gp_Quaternion& theOther) const;
gp_Quaternion operator * (const gp_Quaternion& theOther) const
{
return Multiplied(theOther);
}
//! Adds componnets of other quaternion; result is "rotations mix"
Standard_EXPORT void Add (const gp_Quaternion& theOther) ;
void operator += (const gp_Quaternion& theOther)
{
Add(theOther);
}
//! Subtracts componnets of other quaternion; result is "rotations mix"
Standard_EXPORT void Subtract (const gp_Quaternion& theOther) ;
void operator -= (const gp_Quaternion& theOther)
{
Subtract(theOther);
}
//! Adds rotation by multiplication
Standard_EXPORT void Multiply (const gp_Quaternion& theOther) ;
void operator *= (const gp_Quaternion& theOther)
{
Multiply(theOther);
}
//! Computes inner product / scalar product / Dot
Standard_EXPORT Standard_Real Dot (const gp_Quaternion& theOther) const;
//! Return rotation angle from -PI to PI
Standard_EXPORT Standard_Real GetRotationAngle() const;
//! Rotates vector by quaternion as rotation operator
Standard_EXPORT gp_Vec Multiply (const gp_Vec& theVec) const;
gp_Vec operator * (const gp_Vec& theVec) const
{
return Multiply(theVec);
}
protected:
private:
Standard_Real x;
Standard_Real y;
Standard_Real z;
Standard_Real w;
};
#include <gp_Quaternion.lxx>
#endif // _gp_Quaternion_HeaderFile
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