Changeset 4477 in orxonox.OLD for orxonox/trunk/src/lib/math/vector.h

Timestamp:

Jun 2, 2005, 4:35:22 AM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: vector is completely documented again

File:

• orxonox/trunk/src/lib/math/vector.h (modified) (3 diffs)

orxonox/trunk/src/lib/math/vector.h

@@ -52 +52 @@
   /** \param v: the corss-product partner \returns the cross-product between this and v (this (x) v) */
   inline Vector cross (const Vector& v) const { return Vector(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x ); }
-  /** \param scales the this vector with v */
+  /** \brief scales the this vector with v  \param v the vector to scale this with */
   void scale(const Vector& v) {   x *= v.x;  y *= v.y; z *= v.z; };
   /** \returns the length of the vector */
@@ -102 +102 @@
 {
  public:
-  Vector    v;        //!< Imaginary Vector
-  float     w;        //!< Real part of the number
-  
+  /** \brief creates a Default quaternion (multiplicational identity Quaternion)*/
   inline Quaternion () { w = 1; v = Vector(0,0,0); }
+  /** \brief creates a Quaternion looking into the direction v \param v: the direction \param f: the value */
   inline Quaternion (const Vector& v, float f) { this->w = f; this->v = v; }
   Quaternion (float m[4][4]);
+  /** \brief turns a rotation along an axis into a Quaternion \param angle: the amount of radians to rotate \param axis: the axis to rotate around */
   inline Quaternion (float angle, const Vector& axis) { w = cos(angle/2); v = axis * sin(angle/2); }
   Quaternion (const Vector& dir, const Vector& up);
   Quaternion (float roll, float pitch, float yaw);
   Quaternion operator/ (const float& f) const;
-  inline const Quaternion operator/= (const float& f) {*this = *this / f; return *this;}
+  /** \param f: the value to divide by \returns the quaternion devided by f (this /= f) */
+  inline const Quaternion& operator/= (const float& f) {*this = *this / f; return *this;}
   Quaternion operator* (const float& f) const;
-  inline const Quaternion operator*= (const float& f) {*this = *this * f; return *this;}
+  /** \param f: the value to multiply by \returns the quaternion multiplied by f (this *= f) */
+  inline const Quaternion& operator*= (const float& f) {*this = *this * f; return *this;}
   Quaternion operator* (const Quaternion& q) const;
-  inline const Quaternion operator*= (const Quaternion& q) {*this = *this * q; return *this;}
-  inline Quaternion operator+ (const Quaternion& q) const { return Quaternion(q.v + v, q.w + w); }
-  inline const Quaternion& operator+= (const Quaternion& q) {this->v += q.v; this->w += q.w; return *this;}
+  /** \param q: the Quaternion to multiply by \returns the quaternion multiplied by q (this *= q) */  
+  inline const Quaternion operator*= (const Quaternion& q) {*this = *this * q; return *this; };
+  /** \param q the Quaternion to add to this \returns the quaternion added with q (this + q) */
+  inline Quaternion operator+ (const Quaternion& q) const { return Quaternion(q.v + v, q.w + w); };
+  /** \param q the Quaternion to add to this \returns the quaternion added with q (this += q) */
+  inline const Quaternion& operator+= (const Quaternion& q) { this->v += q.v; this->w += q.w; return *this; };
+  /** \param q the Quaternion to substrace from this \returns the quaternion substracted by q (this - q) */
   inline Quaternion operator- (const Quaternion& q) const { return Quaternion(q.v - v, q.w - w); }
-  inline const Quaternion& operator-= (const Quaternion& q) {this->v -= q.v; this->w -= q.w; return *this;}
+  /** \param q the Quaternion to substrace from this \returns the quaternion substracted by q (this -= q) */
+  inline const Quaternion& operator-= (const Quaternion& q) { this->v -= q.v; this->w -= q.w; return *this; };
+  /** \brief copy constructor \param q: the Quaternion to set this to. \returns the Quaternion q (or this) */
   inline Quaternion operator= (const Quaternion& q) {this->v = q.v; this->w = q.w; return *this;}
-  Quaternion conjugate () const {  Quaternion r(*this);
-  r.v = Vector() - r.v;
-  return r;}
+  /** \brief conjugates this Quaternion \returns the conjugate */
+  inline Quaternion conjugate () const {  Quaternion r(*this);  r.v = Vector() - r.v;  return r;}
   Quaternion inverse () const;
   Vector apply (const Vector& f) const;
@@ -131 +138 @@
   
   void debug();
+
+ public:
+  Vector    v;        //!< Imaginary Vector
+  float     w;        //!< Real part of the number
+
 };