mlQuaternion.h File Reference

#include "mlLinearAlgebraSystem.h"
#include "mlVector3.h"
#include <mlErrorMacros.h>
#include <mlErrorOutput.h>
#include <mlPrintTemplateErrors.h>

Go to the source code of this file.

Classes
class	ml::TQuaternion< DT >
	Declaration of complex type traits: More...

Namespaces
namespace	ml
	Main documentation file for ML users and developers.
namespace	std
	STL namespace.

Macros
#define	_ML_QUATERNION_CALC_CHECKED(FUNC_NAME, CALC_EXPR)
	Defines a code fragment which checks and handles some stuff for safe expression calculations.
#define	_ML_QUAT_CALC_EXP   TQuaternion<DT>(-v/len,0).mult(mult(TQuaternion<DT>(-v/len,0)).arcsinh());
	Internal helper macro - do not use.
#define	_ML_QUAT_CALC_EXP   TQuaternion<DT>(-v/len,0).mult(arccosh());
	Internal helper macro - do not use.
#define	_ML_QUAT_CALC_EXP   TQuaternion<DT>(-v/len,0).mult(mult(TQuaternion<DT>(-v/len,0)).arctanh());
	Internal helper macro - do not use.

Typedefs
Specializations for float, double, and long double.
typedef TQuaternion< MLfloat >	ml::Quaternionf
	A smaller Quaternion type as specialization from TQuaternion.
typedef TQuaternion< MLdouble >	ml::Quaterniond
	The default Quaternion type used in the ML as specialization from TQuaternion.
typedef TQuaternion< MLldouble >	ml::Quaternionld
	A large Quaternion type for further extensions of the ML as specialization from TQuaternion.
typedef TQuaternion< MLdouble >	ml::Quaternion
	Define the default Quaternion type which is used by the ML; it uses double as component type.

Functions
template<typename DT >
ostream &	std::operator<< (ostream &s, const ml::TQuaternion< DT > &v)
	Overloading the operator "<<" for stream output of TQuaternion objects.

Macro Definition Documentation

_ML_QUAT_CALC_EXP [1/3]

#define _ML_QUAT_CALC_EXP   TQuaternion<DT>(-v/len,0).mult(mult(TQuaternion<DT>(-v/len,0)).arcsinh());

Internal helper macro - do not use.

Definition at line 878 of file mlQuaternion.h.

Referenced by ml::TQuaternion< DT >::arccos(), ml::TQuaternion< DT >::arcsin(), and ml::TQuaternion< DT >::arctan().

_ML_QUAT_CALC_EXP [2/3]

#define _ML_QUAT_CALC_EXP   TQuaternion<DT>(-v/len,0).mult(arccosh());

Internal helper macro - do not use.

Definition at line 878 of file mlQuaternion.h.

_ML_QUAT_CALC_EXP [3/3]

#define _ML_QUAT_CALC_EXP   TQuaternion<DT>(-v/len,0).mult(mult(TQuaternion<DT>(-v/len,0)).arctanh());

Internal helper macro - do not use.

Definition at line 878 of file mlQuaternion.h.

_ML_QUATERNION_CALC_CHECKED

#define _ML_QUATERNION_CALC_CHECKED	(		FUNC_NAME,
			CALC_EXPR )

Value:

      TQuaternion<DT> retVal;                                                        \
      {                                                                              \
        const Tvec3<DT> &v  = qv();                                                  \
        const DT        len = v.length();                                            \
        if (MLValueIs0WOM(len)){                                                     \
          /* Error! Check whether we have a pointer to a return error code value. */ \
          if (isError == NULL){                                                      \
            /* No, post an error. */                                                 \
            printTemplateError("TQuaternion::" FUNC_NAME "() const, " FUNC_NAME          \
                           " of quaternion cannot be calculated",                    \
                           ML_BAD_PARAMETER,                                         \
                           "Returning default quaternion");                          \
          }                                                                          \
          else{                                                                      \
            /* Yes, set return code, retVal is left on default. */                   \
            *isError = true;                                                         \
          }                                                                          \
        }                                                                            \
        else{                                                                        \
          /* Define return values. */                                                \
          if (isError != NULL){ *isError = false; }                                  \
          retVal = CALC_EXPR;                                                        \
        }                                                                            \
      }                                                                              \
      return retVal;                                                                 \

Defines a code fragment which checks and handles some stuff for safe expression calculations.

It calculates and checks the length of qv. If it is non 0 then it executes the expression otherwise it handles the error as follows: If the length is 0, i.e. the expression cannot be determined, an error is created. If isError is NULL, it is posted to the error handling system. If isError is non-NULL, no error is posted, however *isError is set to true, otherwise it is set to false. In error case and isError is non-NULL the default quaternion is returned.

Parameters

FUNC_NAME	is (string) name of the function to be implemented.
CALC_EXPR	is the expression to be executed to calculate the TQuaternion

return value.

Definition at line 848 of file mlQuaternion.h.

Referenced by ml::TQuaternion< DT >::arccos(), ml::TQuaternion< DT >::arcsin(), and ml::TQuaternion< DT >::arctan().