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00001 /*!
00002 \mainpage
00003 <!---------------------------------------------------------------------------->
00004 <!---------------------------------------------------------------------------->
00005 <!---------------------------------------------------------------------------->
00006 <hr><hr>
00007 <h2>What's new?</h2>
00008 <p>
00009 [Mar. 15th 2005]
00010 The first version of QVM was released.
00011 </p>
00012 
00013 <!---------------------------------------------------------------------------->
00014 <!---------------------------------------------------------------------------->
00015 <!---------------------------------------------------------------------------->
00016 <hr><hr>
00017 <h2>Introduction</h2>
00018 <p>
00019 QVM is a quaternion, vector, and matrix class set in C++ for 3D kinematics.
00020 </p>
00021 
00022 <p>
00023 This library does not handle general matrix-vector problems but is specialized for 3D kinetic problems.
00024 </p>
00025 
00026 <!---------------------------------------------------------------------------->
00027 <!---------------------------------------------------------------------------->
00028 <!---------------------------------------------------------------------------->
00029 <h2>Important Specification</h2>
00030 <ul>
00031 <li>
00032 The namespace for QVM is "QVM".
00033 </li>
00034 
00035 <li>
00036 The quaternion class is "QVM::quat".
00037 </li>
00038 <li>
00039 The 3D vector class is "QVM::vec".
00040 </li>
00041 <li>
00042 The 3x3 matrix class is "QVM::mat".
00043 </li>
00044 
00045 <li>
00046 The operator <code>"*"</code> means the matrix product.
00047 </li>
00048 <li>
00049 The operator <code>"%"</code> means the inner product.
00050 </li>
00051 <li>
00052 The operator <code>"/"</code> means the outer product.
00053 </li>
00054 <li>
00055 QVM doesn't distingish column-vector and row-vector.
00056 For example, <code>v1*v2</code> returns <code>mat</code> as the result of the matrix product between column-vector <code>v1</code> and row-vector <code>v2</code>.
00057 On the other hand, <code>v1%v2</code> returns <code>double</code> as the result of the inner product, 
00058 and <code>v1/v2</code> returns <code>vec</code> as the result of the outer product.
00059 </li>
00060 
00061 <li>
00062 To convert <code>quat</code> to <code>vec</code>, use 
00063 <code>vec im(const quat&)</code> function.
00064 </li>
00065 <li>
00066 To convert <code>vec</code> to <code>quat</code>, use 
00067 <code>vr2q(const vec&, const double&)</code> function or 
00068 <code>vt2q(const vec&, const double&)</code> function.
00069 See \ref pg-convert for the detail.
00070 </li>
00071 
00072 <li>
00073 To rotate a vector in a coordinate system, use <code>rotate(const vec&, const quat&)</code> function.
00074 See \ref pg-rotate for the detail.
00075 </li>
00076 
00077 </ul>
00078 
00079 <!---------------------------------------------------------------------------->
00080 <!---------------------------------------------------------------------------->
00081 <!---------------------------------------------------------------------------->
00082 <h2>License</h2>
00083 QVM is an open-source, free, and unguaranteed software.
00084 
00085 <!---------------------------------------------------------------------------->
00086 <!---------------------------------------------------------------------------->
00087 <!---------------------------------------------------------------------------->
00088 <h2>Author and Cooperators</h2>
00089 Author: &nbsp;
00090 Yuki ONISHI
00091 
00092 <!---------------------------------------------------------------------------->
00093 <!---------------------------------------------------------------------------->
00094 <!---------------------------------------------------------------------------->
00095 <h2>Bug Report</h2>
00096 Please send bug reports to 
00097 <a href="mailto:yuki.onishi@nifty.com">yuki.onishi@nifty.com</a>.
00098 I also welcome any kind of comments.
00099 
00100 <!---------------------------------------------------------------------------->
00101 <!---------------------------------------------------------------------------->
00102 <!---------------------------------------------------------------------------->
00103 <h2>Links</h2>
00104 
00105 <!---------------------------------------------------------------------------->
00106 <!---------------------------------------------------------------------------->
00107 <!---------------------------------------------------------------------------->
00108 <center><h3>Have fun.</h3></center>
00109 
00110 */

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