A namespace for the whole library. More...

Classes
class	Vector3
	A class to store vectors of 3 elements. More...

class	Quaternion
	A class to store quaternions. More...

class	Matrix3
	A class to store 3x3 rotation matrices. More...

Typedefs
typedef Matrix3< double >	Matrix3D

typedef Matrix3< float >	Matrix3F

typedef Quaternion< double >	QuaternionD

typedef Quaternion< float >	QuaternionF

typedef Vector3< double >	Vector3D

typedef Vector3< float >	Vector3F

Functions
template<class fpType >
int	sign (const fpType &val)

template<class fpType >
int	signStar (const fpType &val)

template<class fpType >
bool	isInf (const fpType &number)

template<class fpType >
bool	isNaN (const fpType &number)

template<class fpType >
int	compare (const fpType &d1, const fpType &d2, const fpType &precision=PRECISION)

template<class fpType >
fpType	normalizeAngle (const fpType &angle)

template<class fpType >
fpType	getAngleFromSinCose (fpType sinAlpha, fpType cosAlpha)

template<class fpType >
Matrix3< fpType >	operator* (const double &scale, const Matrix3< fpType > &mat)

template<class fpType >
Matrix3< fpType >	operator* (const float &scale, const Matrix3< fpType > &mat)

template<class fpType >
std::ostream &	operator<< (std::ostream &stream, const Matrix3< fpType > &mat)

template<class fpType >
std::istream &	operator>> (std::istream &stream, Matrix3< fpType > &mat)

template<class fpType >
std::ostream &	operator<< (std::ostream &stream, const Quaternion< fpType > &quat)

template<class fpType >
std::istream &	operator>> (std::istream &stream, Quaternion< fpType > &quat)

template<class fpType >
Vector3< fpType >	operator* (const double &scale, const Vector3< fpType > &vec)

template<class fpType >
Vector3< fpType >	operator* (const float &scale, const Vector3< fpType > &vec)

template<class fpType >
std::ostream &	operator<< (std::ostream &stream, const Vector3< fpType > &vec)

template<class fpType >
std::istream &	operator>> (std::istream &stream, Vector3< fpType > &vec)

Detailed Description

A namespace for the whole library.

Typedef Documentation

algebra3d Matrix3< double\> algebra3d algebra3d::Matrix3D

An abbreviated name for algebra3d::Matrix3 <double>

algebra3d Matrix3< float\> algebra3d algebra3d::Matrix3F

An abbreviated name for algebra3d::Matrix3 <float>

algebra3d Quaternion double algebra3d algebra3d::QuaternionD

An abbreviated name for algebra3d::Quaternion <double>

algebra3d Quaternion< double\> algebra3d algebra3d::QuaternionF

An abbreviated name for algebra3d::Quaternion <float>

algebra3d Vector3< double\> algebra3d algebra3d::Vector3D

An abbreviated name for algebra3d::Vector3 <double>

algebra3d Vector3< double\> algebra3d algebra3d::Vector3F

An abbreviated name for algebra3d::Vector3 <float>

Function Documentation

template<class fpType >

int algebra3d::compare	(	const fpType &	d1,
		const fpType &	d2,
		const fpType &	precision = `PRECISION`
	)

inline

Compares the two fpType numbers up to the precision. Returns 0 if the numbers are equal up to precision, 1 if the first number is greater, -1 if the second number is greater, 2 if one of the numbers is NaN.

Two function pointers have been added to make it easier to use.

Parameters

[in]	d1	A number to compare.
[in]	d2	The other number to compare.
[in]	precision	The precision to use; by default the global PRECISION is used.

Returns: 0 if the numbers are equal up to PRECISION, 1 if the first one is greater, -1 if the second number is greater, 2 if one of the numbers is NaN.

See Also: compareD; compareF

template<class fpType >

fpType algebra3d::getAngleFromSinCose	(	fpType	sinAlpha,
		fpType	cosAlpha
	)

inline

Computes a normalized angle for the given values of sine and cosine.

Parameters

sinAlpha	sine of the angle to calculate
cosAlpha	cosine of the angle to calculate.

Returns: The computed normalized angle.

template<class fpType >

bool algebra3d::isInf ( const fpType & number )

inline

Checks if the provided number is Inf.

Two function pointers have been added to make it easier to use.

Parameters

[in] number The number to check.

Returns: true if the numbers is Inf, false otherwise.

template<class fpType >

bool algebra3d::isNaN ( const fpType & number )

inline

Checks if the provided number is NaN.

Two function pointers have been added to make it easier to use.

Parameters

[in] number The number to check.

Returns: true if the numbers is NaN, false otherwise.

template<class fpType >

fpType algebra3d::normalizeAngle ( const fpType & angle )

"Normalizes" the angle i.e. transforms it to (-PI, PI].

Two function pointers have been added to make it easier to use.

Parameters

[in] angle The angle to "normalize".

Returns: The "normalized" angle.

See Also: normalizeAngleD; normalizeAngleF

template<class fpType >

Vector3<fpType> algebra3d::operator*	(	const double &	scale,
		const Vector3< fpType > &	vec
	)

Scales the provided vector by the provided double number.

Parameters

[in]	scale	The scaling factor.
[in]	vec	Vector to scale.

Returns: The scaled matrix.

template<class fpType >

Vector3<fpType> algebra3d::operator*	(	const float &	scale,
		const Vector3< fpType > &	vec
	)

Scales the provided vector by the provided float number.

Parameters

[in]	scale	The scaling factor.
[in]	vec	Vector to scale.

Returns: The scaled matrix.

template<class fpType >

Matrix3<fpType> algebra3d::operator*	(	const double &	scale,
		const Matrix3< fpType > &	mat
	)

Scales the provided matrix by the provided double number.

Parameters

[in]	scale	The scaling factor.
[in]	mat	Matrix to scale.

Returns: The scaled matrix.

template<class fpType >

Matrix3<fpType> algebra3d::operator*	(	const float &	scale,
		const Matrix3< fpType > &	mat
	)

Scales the provided matrix by the provided float number.

Parameters

[in]	scale	The scaling factor.
[in]	mat	Matrix to scale.

Returns: The scaled matrix.

template<class fpType >

std::ostream& algebra3d::operator<<	(	std::ostream &	stream,
		const Quaternion< fpType > &	quat
	)

Outputs the provided quaternion to the provided stream.

Parameters

[in]	stream	The stream to use.
[in]	quat	The quaternion to output.

Returns: The stream.

template<class fpType >

std::ostream& algebra3d::operator<<	(	std::ostream &	stream,
		const Vector3< fpType > &	vec
	)

Outputs the provided vector to the provided stream.

Parameters

[in]	stream	The stream to use.
[in]	vec	The vector to output.

Returns: The stream.

template<class fpType >

std::ostream& algebra3d::operator<<	(	std::ostream &	stream,
		const Matrix3< fpType > &	mat
	)

Outputs the provided matrix to the provided stream..

Parameters

[in]	stream	The stream to use.
[in]	mat	The matrix to output.

Returns: The stream.

template<class fpType >

std::istream& algebra3d::operator>>	(	std::istream &	stream,
		Quaternion< fpType > &	quat
	)

Reads data for the provided quaternion from the provided stream.

Parameters

[in]	stream	The stream to use.
[in]	quat	The quaternion to fill in.

Returns: The stream.

template<class fpType >

std::istream& algebra3d::operator>>	(	std::istream &	stream,
		Vector3< fpType > &	vec
	)

Reads data for the provided vector from the provided stream.

Parameters

[in]	stream	The stream to use.
[in]	vec	The vector to fill in.

Returns: The stream.

template<class fpType >

std::istream& algebra3d::operator>>	(	std::istream &	stream,
		Matrix3< fpType > &	mat
	)

Reads data for the provided matrix from the provided stream.

Parameters

[in]	stream	The stream to use.
[in]	mat	The matrix to fill in.

Returns: The stream.

template<class fpType >

int algebra3d::sign ( const fpType & val )

inline

Returns the sign of the given number.

Parameters

[in] val The number to return the sign for.

Returns: The sign of the given number.

See Also: signStar

template<class fpType >

int algebra3d::signStar ( const fpType & val )

inline

Returns the sign for non-negative numbers and 1 for 0.

Parameters

[in] val The number to return the sgn* for.

Returns: The sign for non-negative numbers and 1 for 0.

See Also: sign

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation