sp::UnitQuaternions< T > Struct Template Reference

A container for the four basis unit quaternions. More...

#include <Complex.hpp>

Public Types
using	R = UnderlyingRealType< T >

Static Public Attributes
constexpr static Quaternion< R >	one = {{o, z}, {z, z}}
constexpr static Quaternion< R >	i = {{z, o}, {z, z}}
constexpr static Quaternion< R >	j = {{z, z}, {o, z}}
constexpr static Quaternion< R >	k = {{z, z}, {z, o}}

Detailed Description

template<typename T>
struct sp::UnitQuaternions< T >

A container for the four basis unit quaternions.

They can be accessed in the following manner:

auto one = sp::UnitQuaternions<float>::one;
auto   i = sp::UnitQuaternions<float>::i;
auto   j = sp::UnitQuaternions<float>::j;
auto   k = sp::UnitQuaternions<float>::k;

These obey the fundamental laws \( i^2 = j^2 = k^2 = ijk = -1 \).