#include <dualQuatf.h>

Public Types
typedef float	ScalarType

Public Member Functions
	GfDualQuatf ()
	The default constructor leaves the dual quaternion undefined. More...

	GfDualQuatf (float realVal)

	GfDualQuatf (const GfQuatf &real)

	GfDualQuatf (const GfQuatf &real, const GfQuatf &dual)
	This constructor initializes the real and dual parts. More...

	GfDualQuatf (const GfQuatf &rotation, const GfVec3f &translation)
	This constructor initializes from a rotation and a translation components. More...

GF_API	GfDualQuatf (const GfDualQuatd &other)
	Construct from GfDualQuatd. More...

GF_API	GfDualQuatf (const GfDualQuath &other)
	Implicitly convert from GfDualQuath. More...

void	SetReal (const GfQuatf &real)
	Sets the real part of the dual quaternion. More...

void	SetDual (const GfQuatf &dual)
	Sets the dual part of the dual quaternion. More...

const GfQuatf &	GetReal () const
	Returns the real part of the dual quaternion. More...

const GfQuatf &	GetDual () const
	Returns the dual part of the dual quaternion. More...

GF_API std::pair< float, float >	GetLength () const
	Returns geometric length of this dual quaternion. More...

GF_API GfDualQuatf	GetNormalized (float eps=GF_MIN_VECTOR_LENGTH) const

GF_API std::pair< float, float >	Normalize (float eps=GF_MIN_VECTOR_LENGTH)

GF_API GfDualQuatf	GetConjugate () const
	Returns the conjugate of this dual quaternion. More...

GF_API GfDualQuatf	GetInverse () const
	Returns the inverse of this dual quaternion. More...

GF_API void	SetTranslation (const GfVec3f &translation)
	Set the translation component of this dual quaternion. More...

GF_API GfVec3f	GetTranslation () const
	Get the translation component of this dual quaternion. More...

bool	operator== (const GfDualQuatf &dq) const

bool	operator!= (const GfDualQuatf &dq) const

GfDualQuatf &	operator+= (const GfDualQuatf &dq)
	Component-wise unary sum operator. More...

GfDualQuatf &	operator-= (const GfDualQuatf &dq)
	Component-wise unary difference operator. More...

GF_API GfDualQuatf &	operator*= (const GfDualQuatf &dq)
	Post-multiplies dual quaternion `dq` into this dual quaternion. More...

GfDualQuatf &	operator*= (float s)
	Scales this dual quaternion by `s`. More...

GfDualQuatf &	operator/= (float s)
	Scales this dual quaternion by 1 / `s`. More...

GF_API GfVec3f	Transform (const GfVec3f &vec) const
	Transforms the row vector vec by the dual quaternion. More...

Static Public Member Functions
static GfDualQuatf	GetZero ()

static GfDualQuatf	GetIdentity ()

Friends
size_t	hash_value (const GfDualQuatf &dq)
	Hash. More...

GfDualQuatf	operator+ (const GfDualQuatf &dq1, const GfDualQuatf &dq2)
	Component-wise binary sum operator. More...

GfDualQuatf	operator- (const GfDualQuatf &dq1, const GfDualQuatf &dq2)
	Component-wise binary difference operator. More...

GfDualQuatf	operator* (const GfDualQuatf &dq1, const GfDualQuatf &dq2)
	Returns the product of dual quaternions `dq1` and `dq2`. More...

GfDualQuatf	operator* (const GfDualQuatf &dq, float s)
	Returns the product of dual quaternion `dq` and scalar `s`. More...

GfDualQuatf	operator* (float s, const GfDualQuatf &dq)
	Returns the product of dual quaternion `dq` and scalar `s`. More...

GfDualQuatf	operator/ (const GfDualQuatf &dq, float s)
	Returns the product of dual quaternion `dq` and scalar 1 / `s`. More...

Detailed Description

Basic type: a real part quaternion and a dual part quaternion.

This class represents a generalized dual quaternion that has a real part and a dual part quaternions. Dual quaternions are used to represent a combination of rotation and translation.

References: https://www.cs.utah.edu/~ladislav/kavan06dual/kavan06dual.pdf http://web.cs.iastate.edu/~cs577/handouts/dual-quaternion.pdf

Definition at line 66 of file dualQuatf.h.

Member Typedef Documentation

typedef float GfDualQuatf::ScalarType

Definition at line 69 of file dualQuatf.h.

Constructor & Destructor Documentation

GfDualQuatf::GfDualQuatf ( )

inline

The default constructor leaves the dual quaternion undefined.

Definition at line 72 of file dualQuatf.h.

GfDualQuatf::GfDualQuatf ( float realVal )

inlineexplicit

Initialize the real part to realVal and the imaginary part to zero quaternion.

Since quaternions typically must be normalized, reasonable values for realVal are -1, 0, or 1. Other values are legal but are likely to be meaningless.

Definition at line 81 of file dualQuatf.h.

GfDualQuatf::GfDualQuatf ( const GfQuatf & real )

inlineexplicit

Initialize the real part to real quaternion and the imaginary part to zero quaternion.

Definition at line 86 of file dualQuatf.h.

GfDualQuatf::GfDualQuatf	(	const GfQuatf &	real,
		const GfQuatf &	dual
	)

inline

This constructor initializes the real and dual parts.

Definition at line 91 of file dualQuatf.h.

GfDualQuatf::GfDualQuatf	(	const GfQuatf &	rotation,
		const GfVec3f &	translation
	)

inline

This constructor initializes from a rotation and a translation components.

Definition at line 96 of file dualQuatf.h.

GF_API GfDualQuatf::GfDualQuatf ( const GfDualQuatd & other )

explicit

Construct from GfDualQuatd.

GF_API GfDualQuatf::GfDualQuatf ( const GfDualQuath & other )

Implicitly convert from GfDualQuath.

Member Function Documentation

GF_API GfDualQuatf GfDualQuatf::GetConjugate ( ) const

Returns the conjugate of this dual quaternion.

const GfQuatf& GfDualQuatf::GetDual ( ) const

inline

Returns the dual part of the dual quaternion.

Definition at line 124 of file dualQuatf.h.

static GfDualQuatf GfDualQuatf::GetIdentity ( )

inlinestatic

Returns the identity dual quaternion, which has a real part of (1,0,0,0) and a dual part of (0,0,0,0).

Definition at line 136 of file dualQuatf.h.

GF_API GfDualQuatf GfDualQuatf::GetInverse ( ) const

Returns the inverse of this dual quaternion.

GF_API std::pair<float, float> GfDualQuatf::GetLength ( ) const

Returns geometric length of this dual quaternion.

GF_API GfDualQuatf GfDualQuatf::GetNormalized ( float eps = GF_MIN_VECTOR_LENGTH ) const

Returns a normalized (unit-length) version of this dual quaternion. If the length of this dual quaternion is smaller than eps, this returns the identity dual quaternion.

const GfQuatf& GfDualQuatf::GetReal ( ) const

inline

Returns the real part of the dual quaternion.

Definition at line 119 of file dualQuatf.h.

GF_API GfVec3f GfDualQuatf::GetTranslation ( ) const

Get the translation component of this dual quaternion.

static GfDualQuatf GfDualQuatf::GetZero ( )

inlinestatic

Returns the zero dual quaternion, which has a real part of (0,0,0,0) and a dual part of (0,0,0,0).

Definition at line 130 of file dualQuatf.h.

GF_API std::pair<float, float> GfDualQuatf::Normalize ( float eps = GF_MIN_VECTOR_LENGTH )

Normalizes this dual quaternion in place. Normalizes this dual quaternion in place to unit length, returning the length before normalization. If the length of this dual quaternion is smaller than eps, this sets the dual quaternion to identity.

bool GfDualQuatf::operator!= ( const GfDualQuatf & dq ) const

inline

Component-wise dual quaternion inequality test. The real and dual parts must match exactly for dual quaternions to be considered equal.

Definition at line 187 of file dualQuatf.h.

GF_API GfDualQuatf& GfDualQuatf::operator*= ( const GfDualQuatf & dq )

Post-multiplies dual quaternion dq into this dual quaternion.

GfDualQuatf& GfDualQuatf::operator*= ( float s )

inline

Scales this dual quaternion by s.

Definition at line 210 of file dualQuatf.h.

GfDualQuatf& GfDualQuatf::operator+= ( const GfDualQuatf & dq )

inline

Component-wise unary sum operator.

Definition at line 192 of file dualQuatf.h.

GfDualQuatf& GfDualQuatf::operator-= ( const GfDualQuatf & dq )

inline

Component-wise unary difference operator.

Definition at line 199 of file dualQuatf.h.

GfDualQuatf& GfDualQuatf::operator/= ( float s )

inline

Scales this dual quaternion by 1 / s.

Definition at line 217 of file dualQuatf.h.

bool GfDualQuatf::operator== ( const GfDualQuatf & dq ) const

inline

Component-wise dual quaternion equality test. The real and dual parts must match exactly for dual quaternions to be considered equal.

Definition at line 180 of file dualQuatf.h.

void GfDualQuatf::SetDual ( const GfQuatf & dual )

inline

Sets the dual part of the dual quaternion.

Definition at line 114 of file dualQuatf.h.

void GfDualQuatf::SetReal ( const GfQuatf & real )

inline

Sets the real part of the dual quaternion.

Definition at line 109 of file dualQuatf.h.

GF_API void GfDualQuatf::SetTranslation ( const GfVec3f & translation )

Set the translation component of this dual quaternion.

GF_API GfVec3f GfDualQuatf::Transform ( const GfVec3f & vec ) const

Transforms the row vector vec by the dual quaternion.

Friends And Related Function Documentation

size_t hash_value ( const GfDualQuatf & dq )

friend

Hash.

Definition at line 174 of file dualQuatf.h.

GfDualQuatf operator*	(	const GfDualQuatf &	dq1,
		const GfDualQuatf &	dq2
	)

friend

Returns the product of dual quaternions dq1 and dq2.

Definition at line 236 of file dualQuatf.h.

GfDualQuatf operator*	(	const GfDualQuatf &	dq,
		float	s
	)

friend

Returns the product of dual quaternion dq and scalar s.

Definition at line 243 of file dualQuatf.h.

GfDualQuatf operator*	(	float	s,
		const GfDualQuatf &	dq
	)

friend

Returns the product of dual quaternion dq and scalar s.

Definition at line 249 of file dualQuatf.h.

GfDualQuatf operator+	(	const GfDualQuatf &	dq1,
		const GfDualQuatf &	dq2
	)

friend

Component-wise binary sum operator.

Definition at line 222 of file dualQuatf.h.

GfDualQuatf operator-	(	const GfDualQuatf &	dq1,
		const GfDualQuatf &	dq2
	)

friend

Component-wise binary difference operator.

Definition at line 229 of file dualQuatf.h.

GfDualQuatf operator/	(	const GfDualQuatf &	dq,
		float	s
	)

friend

Returns the product of dual quaternion dq and scalar 1 / s.

Definition at line 255 of file dualQuatf.h.

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

pxr/base/gf/dualQuatf.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation