#include <DualQuat.h>
| Public Member Functions | |
| DualQuatCoord3 (const Quat &Dual, const Quat &orient) | |
| template<typename real2 > | |
| DualQuatCoord3 (const DualQuatCoord3< real2 > &c) | |
| DualQuatCoord3 (const Pos &p, const sofa::type::Quat< real > &q) | |
| DualQuatCoord3 () | |
| void | clear () | 
| ~DualQuatCoord3 () | |
| real * | ptr () | 
| const real * | ptr () const | 
| void | setTranslation (const Vec3 &p) | 
| Vec3 | getTranslation () | 
| Quat & | getDual () | 
| Quat & | getOrientation () | 
| const Quat & | getDual () const | 
| const Quat & | getOrientation () const | 
| real | norm2 () const | 
| real | norm () const | 
| void | normalize () | 
| void | invert () | 
| template<typename real2 > | |
| void | toMatrix (type::Mat< 3, 4, real2 > &m) const | 
| template<typename real2 > | |
| void | toRotationMatrix (type::Mat< 3, 3, real2 > &m) const | 
| Vec3 | rotate (const Vec3 &v) const | 
| Vec3 | inverseRotate (const Vec3 &v) const | 
| DualQuatCoord3< real > | inverse () | 
| DualQuatCoord3< real > | multRight (const DualQuatCoord3< real > &c) const | 
| DualQuatCoord3< real > | multLeft (const DualQuatCoord3< real > &c) | 
| Vec3 | pointToParent (const Vec3 &p) | 
| Vec3 | pointToChild (const Vec3 &v) | 
| Vec3 | vectorToChild (const Vec3 &v) | 
| template<typename real2 > | |
| void | operator= (const DualQuatCoord3< real2 > &c) | 
| void | operator= (const Vec3 &p) | 
| void | operator+= (const DualQuatCoord3< real > &a) | 
| template<typename real2 > | |
| void | operator*= (real2 a) | 
| template<typename real2 > | |
| void | operator/= (real2 a) | 
| template<typename real2 > | |
| DualQuatCoord3< real > | operator* (real2 a) const | 
| real | operator* (const DualQuatCoord3< real > &a) const | 
| DualQuatCoord3< real > | operator+ (const type::Vec< 6, real > &a) | 
| real & | operator[] (int i) | 
| const real & | operator[] (int i) const | 
| void | velocity_getJ (type::Mat< 4, 3, real > &J0, type::Mat< 4, 3, real > &JE) | 
| DualQuatCoord3< real > | velocity_applyJ (const type::Vec< 6, real > &a) | 
| type::Vec< 6, real > | velocity_applyJT (const DualQuatCoord3< real > &dq) | 
| void | normalize_getJ (type::Mat< 4, 4, real > &J0, type::Mat< 4, 4, real > &JE) | 
| DualQuatCoord3< real > | normalize_applyJ (const DualQuatCoord3< real > &dq) | 
| DualQuatCoord3< real > | normalize_applyJT (const DualQuatCoord3< real > &dqn) | 
| void | normalize_getdJ (type::Mat< 4, 4, real > &dJ0, type::Mat< 4, 4, real > &dJE, const DualQuatCoord3< real > &dq) | 
| void | multRight_getJ (type::Mat< 4, 4, real > &J0, type::Mat< 4, 4, real > &JE) | 
| void | multLeft_getJ (type::Mat< 4, 4, real > &J0, type::Mat< 4, 4, real > &JE) | 
| void | pointToParent_getJ (type::Mat< 3, 4, real > &J0, type::Mat< 3, 4, real > &JE, const Vec3 &p) | 
| Vec3 | pointToParent_applyJ (const DualQuatCoord3< real > &dq, const Vec3 &p) | 
| DualQuatCoord3< real > | pointToParent_applyJT (const Vec3 &dP, const Vec3 &p) | 
| type::Mat< 3, 4, real > | rigid_applyH (const DualQuatCoord3< real > &dq) | 
| type::Mat< 3, 3, real > | rotation_applyH (const DualQuatCoord3< real > &dq) | 
| DualQuatCoord3< real > | rigid_applyHT (const type::Mat< 3, 4, real > &dR) | 
| DualQuatCoord3< real > | rotation_applyHT (const type::Mat< 3, 3, real > &dR) | 
| type::Mat< 3, 8, real > | pointToParent_applyH (const DualQuatCoord3< real > &dq, const Vec3 &p) | 
| DualQuatCoord3< real > | pointToParent_applyHT (const type::Mat< 3, 8, real > &dJ, const Vec3 &p) | 
| Static Public Member Functions | |
| static int | max_size () | 
| static unsigned int | size () | 
| static DualQuatCoord3< real > | identity () | 
| Friends | |
| std::ostream & | operator<< (std::ostream &out, const DualQuatCoord3< real > &v) | 
| std::istream & | operator>> (std::istream &in, DualQuatCoord3< real > &v) | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inlinestatic | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::inverse | 
| type::Vec< 3, real > sofa::type::DualQuatCoord3< real >::inverseRotate | ( | const Vec3 & | v | ) | const | 
| void sofa::type::DualQuatCoord3< real >::invert | 
| 
 | inlinestatic | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::multLeft | ( | const DualQuatCoord3< real > & | c | ) | 
| void sofa::type::DualQuatCoord3< real >::multLeft_getJ | ( | type::Mat< 4, 4, real > & | J0, | 
| type::Mat< 4, 4, real > & | JE | ||
| ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::multRight | ( | const DualQuatCoord3< real > & | c | ) | const | 
| void sofa::type::DualQuatCoord3< real >::multRight_getJ | ( | type::Mat< 4, 4, real > & | J0, | 
| type::Mat< 4, 4, real > & | JE | ||
| ) | 
| 
 | inline | 
| real sofa::type::DualQuatCoord3< real >::norm2 | 
| void sofa::type::DualQuatCoord3< real >::normalize | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::normalize_applyJ | ( | const DualQuatCoord3< real > & | dq | ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::normalize_applyJT | ( | const DualQuatCoord3< real > & | dqn | ) | 
| void sofa::type::DualQuatCoord3< real >::normalize_getdJ | ( | type::Mat< 4, 4, real > & | dJ0, | 
| type::Mat< 4, 4, real > & | dJE, | ||
| const DualQuatCoord3< real > & | dq | ||
| ) | 
| void sofa::type::DualQuatCoord3< real >::normalize_getJ | ( | type::Mat< 4, 4, real > & | J0, | 
| type::Mat< 4, 4, real > & | JE | ||
| ) | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| 
 | inline | 
| type::Vec< 3, real > sofa::type::DualQuatCoord3< real >::pointToChild | ( | const Vec3 & | v | ) | 
| type::Vec< 3, real > sofa::type::DualQuatCoord3< real >::pointToParent | ( | const Vec3 & | p | ) | 
| type::Mat< 3, 8, real > sofa::type::DualQuatCoord3< real >::pointToParent_applyH | ( | const DualQuatCoord3< real > & | dq, | 
| const Vec3 & | p | ||
| ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::pointToParent_applyHT | ( | const type::Mat< 3, 8, real > & | dJ, | 
| const Vec3 & | p | ||
| ) | 
| type::Vec< 3, real > sofa::type::DualQuatCoord3< real >::pointToParent_applyJ | ( | const DualQuatCoord3< real > & | dq, | 
| const Vec3 & | p | ||
| ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::pointToParent_applyJT | ( | const Vec3 & | dP, | 
| const Vec3 & | p | ||
| ) | 
| void sofa::type::DualQuatCoord3< real >::pointToParent_getJ | ( | type::Mat< 3, 4, real > & | J0, | 
| type::Mat< 3, 4, real > & | JE, | ||
| const Vec3 & | p | ||
| ) | 
| 
 | inline | 
| 
 | inline | 
| type::Mat< 3, 4, real > sofa::type::DualQuatCoord3< real >::rigid_applyH | ( | const DualQuatCoord3< real > & | dq | ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::rigid_applyHT | ( | const type::Mat< 3, 4, real > & | dR | ) | 
| type::Vec< 3, real > sofa::type::DualQuatCoord3< real >::rotate | ( | const Vec3 & | v | ) | const | 
| type::Mat< 3, 3, real > sofa::type::DualQuatCoord3< real >::rotation_applyH | ( | const DualQuatCoord3< real > & | dq | ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::rotation_applyHT | ( | const type::Mat< 3, 3, real > & | dR | ) | 
| 
 | inline | 
| 
 | inlinestatic | 
| void sofa::type::DualQuatCoord3< real >::toMatrix | ( | type::Mat< 3, 4, real2 > & | m | ) | const | 
| 
 | inline | 
| type::Vec< 3, real > sofa::type::DualQuatCoord3< real >::vectorToChild | ( | const Vec3 & | v | ) | 
| DualQuatCoord3< real > sofa::type::DualQuatCoord3< real >::velocity_applyJ | ( | const type::Vec< 6, real > & | a | ) | 
| type::Vec< 6, real > sofa::type::DualQuatCoord3< real >::velocity_applyJT | ( | const DualQuatCoord3< real > & | dq | ) | 
| void sofa::type::DualQuatCoord3< real >::velocity_getJ | ( | type::Mat< 4, 3, real > & | J0, | 
| type::Mat< 4, 3, real > & | JE | ||
| ) | 
| 
 | friend | 
| 
 | friend |