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dbacchet
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Oct 6, 2020
| /// Quaternion | ||
| template <typename T> struct Quaternion { | ||
| T w = T(0); ///< real part | ||
| typedef T value_type; // to access the inner type at compile time |
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default to build the unit quaternion representing no rotation
dbacchet
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Oct 6, 2020
| void operator-=(T rhs); | ||
| void operator*=(T rhs); | ||
| /// rotate a vector: assumes that the quaternion is normalized (i.e. representing a rotation) | ||
| const Vector3<T> rotate(const Vector3<T> &v) const { |
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added these to keep the notation consistent with Transform
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this PR adds a new object called
Transformthat represents a rigid transformation that stores position and orientation