AQuaternion class with floating point entries (an integer-valued quaternion doesn't make much sense). More...

#include <Quaternion.hpp>

Inheritance diagram for mundy::AQuaternion< T, Accessor >:

Public Member Functions
Constructors and destructor
constexpr	AQuaternion ()
	Default constructor. Assume elements are uninitialized.
constexpr	AQuaternion (const Accessor &data)
	Constructor from a given accessor.
constexpr	AQuaternion (const T &w, const T &x, const T &y, const T &z)
	Constructor to initialize all elements.
constexpr	AQuaternion (const std::initializer_list< T > &list)
	Constructor to initialize all elements via initializer list.
constexpr	~AQuaternion ()=default
	Destructor.
constexpr	AQuaternion (const AQuaternion< T, Accessor > &)=default
	Default copy constructor.
constexpr	AQuaternion (AQuaternion< T, Accessor > &&)=default
	Default move constructor.
constexpr AQuaternion< T, Accessor > &	operator= (const AQuaternion< T, Accessor > &)=default
	Default copy assignment operator.
constexpr AQuaternion< T, Accessor > &	operator= (AQuaternion< T, Accessor > &&)=default
	Default move assignment operator.
template<ValidQuaternionType OtherQuaternionType>
constexpr	AQuaternion (const OtherQuaternionType &other) &&(std
	Deep copy constructor with different accessor.
template<ValidQuaternionType OtherQuaternionType>
constexpr	AQuaternion (OtherQuaternionType &&other) &&(std
	Deep move constructor with different accessor.
template<ValidQuaternionType OtherQuaternionType>
constexpr AQuaternion< T, Accessor > &	operator= (const OtherQuaternionType &other)
	Deep copy assignment operator with different accessor.
template<ValidQuaternionType OtherQuaternionType>
constexpr AQuaternion< T, Accessor > &	operator= (OtherQuaternionType &&other)
	Deep move assignment operator with different accessor.
Accessors
constexpr T &	operator[] (size_t index)
	Element access operator via a single index.
constexpr const T &	operator[] (size_t index) const
	Const element access operator via a single index.
constexpr T &	operator() (size_t index)
	Element access operator via a single index.
constexpr const T &	operator() (size_t index) const
	Const element access operator via a single index.
constexpr T &	w ()
	Get a reference to the scalar component.
constexpr const T &	w () const
	Get a reference to the scalar component.
constexpr T &	x ()
	Get a reference to the x component.
constexpr const T &	x () const
	Get a reference to the x component.
constexpr T &	y ()
	Get a reference to the y component.
constexpr const T &	y () const
	Get a reference to the y component.
constexpr T &	z ()
	Get a reference to the z component.
constexpr const T &	z () const
	Get a reference to the z component.
constexpr decltype(auto)	data ()
	Get the internal data accessor.
constexpr decltype(auto)	data () const
	Get the internal data accessor.
constexpr const auto	vector () const
	Get a view of the quaternion vector component.
constexpr auto	vector ()
	Get a view of the quaternion vector component.
constexpr deep_copy_t	copy () const
	Get a deep copy of the quaternion.
template<typename U>
constexpr auto	cast () const
	Cast (and copy) the quaternion to a different type.
Setters and modifiers
constexpr void	set (const T &w, const T &x, const T &y, const T &z)
	Set all elements of the quaternion.
constexpr void	set (const T &w, const Vector3< T > &vec)
	Set all elements of the quaternion.
template<ValidAccessor< T > OtherAccessor>
constexpr void	set (const OtherAccessor &accessor)
	Set all elements of the vector using an accessor.
constexpr void	set_vector (const Vector3< T > &vec)
	Set the quaternion vector component.
constexpr void	normalize ()
	Normalize the quaternion in place.
constexpr void	conjugate ()
	Conjugate the quaternion in place.
constexpr void	invert ()
	Invert the quaternion in place.
Unary operators
constexpr AQuaternion< T >	operator+ () const
	Unary plus operator.
constexpr AQuaternion< T >	operator- () const
	Unary minus operator.
Addition and subtraction
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr auto	operator+ (const AQuaternion< U, OtherAccessor > &other) const
	AQuaternion-quaternion addition.
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr AQuaternion< T, Accessor > &	operator+= (const AQuaternion< U, OtherAccessor > &other)
	AQuaternion-quaternion addition.
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr auto	operator- (const AQuaternion< U, OtherAccessor > &other) const
	AQuaternion-quaternion subtraction.
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr AQuaternion< T, Accessor > &	operator-= (const AQuaternion< U, OtherAccessor > &other)
	AQuaternion-quaternion subtraction.
Multiplication and division
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr auto	operator* (const AQuaternion< U, OtherAccessor > &other) const
	AQuaternion-quaternion multiplication.
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr AQuaternion< T, Accessor > &	operator*= (const AQuaternion< U, OtherAccessor > &other)
	AQuaternion-quaternion multiplication.
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr auto	operator* (const AVector3< U, OtherAccessor > &vec) const
	AQuaternion-vector multiplication (same as R * v).
template<typename U, ValidAccessor< U > OtherAccessor>
constexpr auto	operator* (const AMatrix3< U, OtherAccessor > &mat) const
	AQuaternion-matrix multiplication.
template<typename U>
constexpr auto	operator* (const U &scalar) const
	AQuaternion-scalar multiplication.
template<typename U>
constexpr AQuaternion< T, Accessor > &	operator*= (const U &scalar)
	Self-scalar multiplication.
template<typename U>
constexpr auto	operator/ (const U &scalar) const
	AQuaternion-scalar division.
template<typename U>
constexpr AQuaternion< T, Accessor > &	operator/= (const U &scalar)
	Self-scalar division.

Static Public Member Functions
Static methods
static constexpr AQuaternion< T >	identity ()
	Get the identity quaternion.

Friends
Friends <3
template<typename U, ValidAccessor< U > OtherAccessor>
class	AQuaternion
template<typename U, ValidAccessor< U > OtherAccessor>
std::ostream &	operator<< (std::ostream &os, const AQuaternion< U, OtherAccessor > &quat)

Type aliases
using	value_type = T
	The type of the entries.
using	non_const_value_type = std::remove_const_t<T>
	The non-const type of the entries.
using	deep_copy_t = AQuaternion<T>
	Deep copy type.

Internal data
static constexpr size_t	x_storage_index = 0
static constexpr size_t	y_storage_index = 1
static constexpr size_t	z_storage_index = 2
static constexpr size_t	w_storage_index = 3
storage< Accessor >	accessor_
	Stored accessor via storage.

Detailed Description

template<typename T, ValidAccessor< T > Accessor>
class mundy::AQuaternion< T, Accessor >

Template Parameters

T	The type of the entries.
Accessor	The type of the accessor.

This class is designed to be used with Kokkos. It is a simple quaternion with arithmetic entries. It is templated on the type of the entries and Accessor type. See Accessor.hpp for more details on the Accessor type requirements.

The goal of AQuaternion is to be a lightweight class that can be used with Kokkos to perform mathematical operations on vectors in R3. It does not own the data, but rather it is templated on an Accessor type that provides access to the underlying data. This allows us to use AQuaternion with Kokkos Views, raw pointers, or any other type that meets the ValidAccessor requirements without copying the data. This is especially important for GPU-compatible code. The underlying data is stored in Eigen's coefficient order (x, y, z, w), even though the semantic quaternion constructor and setters accept values in (w, x, y, z) order.

Quaternions can be constructed by passing an accessor to the constructor. However, if the accessor has a 4-argument constructor, then the AQuaternion can also be constructed by passing the elements directly to the constructor. Similarly, if the accessor has an initializer list constructor, then the AQuaternion can be constructed by passing an initializer list to the constructor. This is a convenience feature which makes working with the default accessor (Array<T, 4>) easier. For example, the following are all valid ways to construct an AQuaternion:

// Constructs an AQuaternion with the default accessor (Array<double, 4>)
AQuaternion<double> quat1({1.0, 2.0, 3.0, 4.0});
AQuaternion<double> quat2(1.0, 2.0, 3.0, 4.0);
AQuaternion<double> quat3(Array<double, 4>({2.0, 3.0, 4.0, 1.0}));
AQuaternion<double> quat4;
quat4.set(1.0, 2.0, 3.0, 4.0);
 
// Construct an AQuaternion view from raw Eigen-style coefficient storage
double data[4] = {2.0, 3.0, 4.0, 1.0};
AQuaternion<double, double*> quat5(data);
AQuaternion<double, double*> quat6{1.0, 2.0, 3.0, 4.0};
// Not allowed as double* doesn't have a 4-argument constructor
// AQuaternion<double, double*> quat7(1.0, 2.0, 3.0, 4.0);

Note: Accessors may be owning or non-owning, that is irrelevant to the AQuaternion class; however, these accessors should be lightweight such that they can be copied around without much overhead. Furthermore, the lifetime of the data underlying the accessor should be as long as the AQuaternion that use it.

Member Typedef Documentation

◆ value_type

template<typename T, ValidAccessor< T > Accessor>

using mundy::AQuaternion< T, Accessor >::value_type = T

◆ non_const_value_type

template<typename T, ValidAccessor< T > Accessor>

using mundy::AQuaternion< T, Accessor >::non_const_value_type = std::remove_const_t<T>

◆ deep_copy_t

template<typename T, ValidAccessor< T > Accessor>

using mundy::AQuaternion< T, Accessor >::deep_copy_t = AQuaternion<T>

Constructor & Destructor Documentation

◆ AQuaternion() [1/8]

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::AQuaternion ( )

inlineconstexpr

Note: This constructor is only enabled if the Accessor has a default constructor.

◆ AQuaternion() [2/8]

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::AQuaternion ( const Accessor & data )

inlineexplicitconstexpr

Parameters

[in] data The accessor.

◆ AQuaternion() [3/8]

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::AQuaternion	(	const T &	w,
		const T &	x,
		const T &	y,
		const T &	z )

inlineconstexpr

Parameters

[in]	w	The scalar component.
[in]	x	The x component.
[in]	y	The y component.
[in]	z	The z component.

Note: This constructor is only enabled if the Accessor has a 4-argument constructor.; The underlying storage order is (x, y, z, w).

◆ AQuaternion() [4/8]

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::AQuaternion ( const std::initializer_list< T > & list )

inlineconstexpr

Parameters

[in] list The initializer list.

Note: The initializer list is interpreted in (w, x, y, z) order.

◆ ~AQuaternion()

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::~AQuaternion ( )

constexprdefault

◆ AQuaternion() [5/8]

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::AQuaternion ( const AQuaternion< T, Accessor > & )

constexprdefault

◆ AQuaternion() [6/8]

template<typename T, ValidAccessor< T > Accessor>

mundy::AQuaternion< T, Accessor >::AQuaternion ( AQuaternion< T, Accessor > && )

constexprdefault

◆ AQuaternion() [7/8]

template<typename T, ValidAccessor< T > Accessor>

template<ValidQuaternionType OtherQuaternionType>

mundy::AQuaternion< T, Accessor >::AQuaternion ( const OtherQuaternionType & other ) &&

inlineconstexpr

◆ AQuaternion() [8/8]

template<typename T, ValidAccessor< T > Accessor>

template<ValidQuaternionType OtherQuaternionType>

mundy::AQuaternion< T, Accessor >::AQuaternion ( OtherQuaternionType && other ) &&

inlineconstexpr

Member Function Documentation

◆ operator=() [1/4]

template<typename T, ValidAccessor< T > Accessor>

AQuaternion< T, Accessor > & mundy::AQuaternion< T, Accessor >::operator= ( const AQuaternion< T, Accessor > & )

constexprdefault

◆ operator=() [2/4]

template<typename T, ValidAccessor< T > Accessor>

AQuaternion< T, Accessor > & mundy::AQuaternion< T, Accessor >::operator= ( AQuaternion< T, Accessor > && )

constexprdefault

◆ operator=() [3/4]

template<typename T, ValidAccessor< T > Accessor>

template<ValidQuaternionType OtherQuaternionType>

AQuaternion< T, Accessor > & mundy::AQuaternion< T, Accessor >::operator= ( const OtherQuaternionType & other )

inlineconstexpr

Copies the data from the other vector to our data. This is only enabled if T is not const.

◆ operator=() [4/4]

template<typename T, ValidAccessor< T > Accessor>

template<ValidQuaternionType OtherQuaternionType>

AQuaternion< T, Accessor > & mundy::AQuaternion< T, Accessor >::operator= ( OtherQuaternionType && other )

inlineconstexpr

Moves the data from the other vector to our data. This is only enabled if T is not const.

◆ operator[]() [1/2]

template<typename T, ValidAccessor< T > Accessor>

T & mundy::AQuaternion< T, Accessor >::operator[] ( size_t index )

inlineconstexpr

Parameters

[in] index The index of the element.

Note: Indices follow the raw storage order (x, y, z, w).

◆ operator[]() [2/2]

template<typename T, ValidAccessor< T > Accessor>

const T & mundy::AQuaternion< T, Accessor >::operator[] ( size_t index ) const

inlineconstexpr

Parameters

[in] index The index of the element.

Note: Indices follow the raw storage order (x, y, z, w).

◆ operator()() [1/2]

template<typename T, ValidAccessor< T > Accessor>

T & mundy::AQuaternion< T, Accessor >::operator() ( size_t index )

inlineconstexpr

Parameters

[in] index The index of the element.

Note: Indices follow the raw storage order (x, y, z, w).

◆ operator()() [2/2]

template<typename T, ValidAccessor< T > Accessor>

const T & mundy::AQuaternion< T, Accessor >::operator() ( size_t index ) const

inlineconstexpr

Parameters

[in] index The index of the element.

Note: Indices follow the raw storage order (x, y, z, w).

◆ data() [1/2]

template<typename T, ValidAccessor< T > Accessor>

decltype(auto) mundy::AQuaternion< T, Accessor >::data ( )

inlineconstexpr

Note: The returned accessor exposes the raw storage order (x, y, z, w).

◆ data() [2/2]

template<typename T, ValidAccessor< T > Accessor>

decltype(auto) mundy::AQuaternion< T, Accessor >::data ( ) const

inlineconstexpr

Note: The returned accessor exposes the raw storage order (x, y, z, w).

◆ vector() [1/2]

template<typename T, ValidAccessor< T > Accessor>

const auto mundy::AQuaternion< T, Accessor >::vector ( ) const

inlineconstexpr

◆ vector() [2/2]

template<typename T, ValidAccessor< T > Accessor>

auto mundy::AQuaternion< T, Accessor >::vector ( )

inlineconstexpr

◆ copy()

template<typename T, ValidAccessor< T > Accessor>

deep_copy_t mundy::AQuaternion< T, Accessor >::copy ( ) const

inlineconstexpr

◆ cast()

template<typename T, ValidAccessor< T > Accessor>

template<typename U>

auto mundy::AQuaternion< T, Accessor >::cast ( ) const

inlineconstexpr

◆ set() [1/3]

template<typename T, ValidAccessor< T > Accessor>

void mundy::AQuaternion< T, Accessor >::set	(	const T &	w,
		const T &	x,
		const T &	y,
		const T &	z )

inlineconstexpr

Parameters

[in]	w	The scalar component.
[in]	x	The x component.
[in]	y	The y component.
[in]	z	The z component.

◆ set() [2/3]

template<typename T, ValidAccessor< T > Accessor>

void mundy::AQuaternion< T, Accessor >::set	(	const T &	w,
		const Vector3< T > &	vec )

inlineconstexpr

Parameters

[in]	w	The scalar component.
[in]	vec	The vector component.

◆ set() [3/3]

template<typename T, ValidAccessor< T > Accessor>

template<ValidAccessor< T > OtherAccessor>

void mundy::AQuaternion< T, Accessor >::set ( const OtherAccessor & accessor )

inlineconstexpr

Parameters

[in] accessor A valid accessor.

Note: An AQuaternion is also a valid accessor.

◆ set_vector()

template<typename T, ValidAccessor< T > Accessor>

void mundy::AQuaternion< T, Accessor >::set_vector ( const Vector3< T > & vec )

template<typename T, ValidAccessor< T > Accessor>

constexpr AQuaternion< T > mundy::AQuaternion< T, Accessor >::identity ( )

inlinestaticconstexpr

◆ AQuaternion

template<typename T, ValidAccessor< T > Accessor>

template<typename U, ValidAccessor OtherAccessor>

friend class AQuaternion

friend

◆ operator<<

template<typename T, ValidAccessor< T > Accessor>

template<typename U, ValidAccessor OtherAccessor>

std::ostream & operator<<	(	std::ostream &	os,
		const AQuaternion< U, OtherAccessor > &	quat )

friend

Member Data Documentation

◆ x_storage_index

template<typename T, ValidAccessor< T > Accessor>

size_t mundy::AQuaternion< T, Accessor >::x_storage_index = 0

staticconstexpr

◆ y_storage_index

template<typename T, ValidAccessor< T > Accessor>

size_t mundy::AQuaternion< T, Accessor >::y_storage_index = 1

staticconstexpr

◆ z_storage_index

template<typename T, ValidAccessor< T > Accessor>

size_t mundy::AQuaternion< T, Accessor >::z_storage_index = 2

staticconstexpr

◆ w_storage_index

template<typename T, ValidAccessor< T > Accessor>

size_t mundy::AQuaternion< T, Accessor >::w_storage_index = 3

staticconstexpr

◆ accessor_

template<typename T, ValidAccessor< T > Accessor>

storage<Accessor> mundy::AQuaternion< T, Accessor >::accessor_

Public Member Functions

Static Public Member Functions

Friends

Type aliases

Internal data

Detailed Description

Member Typedef Documentation

◆ value_type

◆ non_const_value_type

◆ deep_copy_t

Constructor & Destructor Documentation

◆ AQuaternion() [1/8]

◆ AQuaternion() [2/8]

◆ AQuaternion() [3/8]

◆ AQuaternion() [4/8]

◆ ~AQuaternion()

◆ AQuaternion() [5/8]

◆ AQuaternion() [6/8]

◆ AQuaternion() [7/8]

◆ AQuaternion() [8/8]

Member Function Documentation

◆ operator=() [1/4]

◆ operator=() [2/4]

◆ operator=() [3/4]

◆ operator=() [4/4]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ w() [1/2]

◆ w() [2/2]

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]

◆ z() [1/2]

◆ z() [2/2]

◆ data() [1/2]

◆ data() [2/2]

◆ vector() [1/2]

◆ vector() [2/2]

◆ copy()

◆ cast()

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ set_vector()

◆ normalize()

◆ conjugate()

◆ invert()

◆ operator+() [1/2]

◆ operator-() [1/2]

◆ operator+() [2/2]

◆ operator+=()

◆ operator-() [2/2]

◆ operator-=()

◆ operator*() [1/4]

◆ operator*=() [1/2]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=() [2/2]

◆ operator/()

◆ operator/=()

◆ identity()

Friends And Related Symbol Documentation

◆ AQuaternion

◆ operator<<

Member Data Documentation

◆ x_storage_index

◆ y_storage_index

◆ z_storage_index

◆ w_storage_index

◆ accessor_