[2] | 1 | // %flair:license{
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[13] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[2] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file Quaternion.h
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| 7 | * \brief Class defining a quaternion
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2016/02/03
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| 10 | * \version 4.0
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| 11 | */
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| 12 | #ifndef QUATERNION_H
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| 13 | #define QUATERNION_H
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| 14 |
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[13] | 15 | namespace flair {
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| 16 | namespace core {
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| 17 | class Euler;
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| 18 | class Vector3D;
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| 19 | class RotationMatrix;
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[2] | 20 |
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[13] | 21 | /*! \class Quaternion
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| 22 | *
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| 23 | * \brief Class defining a quaternion
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| 24 | */
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| 25 | class Quaternion {
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| 26 | public:
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| 27 | /*!
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| 28 | * \brief Constructor
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| 29 | *
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| 30 | * Construct a quaternion using specified values.
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| 31 | *
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| 32 | * \param q0, scalar part
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| 33 | * \param q1
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| 34 | * \param q2
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| 35 | * \param q3
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| 36 | */
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| 37 | Quaternion(float q0 = 1, float q1 = 0, float q2 = 0, float q3 = 0);
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[2] | 38 |
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[13] | 39 | /*!
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| 40 | * \brief Destructor
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| 41 | *
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| 42 | */
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| 43 | ~Quaternion();
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[2] | 44 |
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[13] | 45 | /*!
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| 46 | * \brief Norm
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| 47 | *
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| 48 | * \return norm
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| 49 | */
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| 50 | float GetNorm(void) const;
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[2] | 51 |
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[13] | 52 | /*!
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| 53 | * \brief Normalize
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| 54 | */
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| 55 | void Normalize(void);
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[2] | 56 |
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[13] | 57 | /*!
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| 58 | * \brief Logarithm
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| 59 | *
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| 60 | * This method also Normalize the quaternion.
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| 61 | *
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| 62 | * \param logarithm output logarithm
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| 63 | */
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| 64 | void GetLogarithm(Vector3D &logarithm);
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[2] | 65 |
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[13] | 66 | /*!
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| 67 | * \brief Logarithm
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| 68 | *
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| 69 | * This method also Normalize the quaternion.
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| 70 | *
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| 71 | * \return output logarithm
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| 72 | */
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| 73 | Vector3D GetLogarithm(void);
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[2] | 74 |
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[13] | 75 | /*!
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| 76 | * \brief Conjugate
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| 77 | */
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| 78 | void Conjugate(void);
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[2] | 79 |
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[13] | 80 | /*!
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| 81 | * \brief Conjugate
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| 82 | *
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| 83 | * \return Conjugate
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| 84 | */
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| 85 | Quaternion GetConjugate(void);
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[2] | 86 |
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[13] | 87 | /*!
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| 88 | * \brief Derivative
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| 89 | *
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| 90 | * \param w angular speed
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| 91 | *
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| 92 | * \return derivative
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| 93 | */
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| 94 | Quaternion GetDerivative(const Vector3D &angularSpeed) const;
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[2] | 95 |
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[13] | 96 | /*!
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| 97 | * \brief Derivate
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| 98 | *
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| 99 | * \param w rotationonal speed
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| 100 | */
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| 101 | void Derivate(const Vector3D &angularSpeed);
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[2] | 102 |
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[13] | 103 | /*!
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| 104 | * \brief Convert to euler angles
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| 105 | *
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| 106 | * \param euler output euler angles
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| 107 | */
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| 108 | void ToEuler(Euler &euler) const;
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[2] | 109 |
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[13] | 110 | /*!
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| 111 | * \brief Convert to euler angles
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| 112 | *
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| 113 | * \return euler angles
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| 114 | */
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| 115 | Euler ToEuler(void) const;
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[2] | 116 |
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[13] | 117 | /*!
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| 118 | * \brief Convert to rotation matrix
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| 119 | *
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| 120 | * \param m output matrix
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| 121 | */
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| 122 | void ToRotationMatrix(RotationMatrix &matrix) const;
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[2] | 123 |
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[13] | 124 | /*!
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| 125 | * \brief q0
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| 126 | */
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| 127 | float q0;
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[2] | 128 |
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[13] | 129 | /*!
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| 130 | * \brief q1
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| 131 | */
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| 132 | float q1;
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[2] | 133 |
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[13] | 134 | /*!
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| 135 | * \brief q2
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| 136 | */
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| 137 | float q2;
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[2] | 138 |
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[13] | 139 | /*!
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| 140 | * \brief q3
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| 141 | */
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| 142 | float q3;
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[2] | 143 |
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[13] | 144 | Quaternion &operator+=(const Quaternion &quaternion);
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| 145 | Quaternion &operator-=(const Quaternion &quaternion);
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| 146 | Quaternion &operator=(const Quaternion &quaternion);
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| 147 | };
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[2] | 148 |
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[13] | 149 | /*! Add
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| 150 | *
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| 151 | * \brief Add
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| 152 | *
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| 153 | * \param quaterniontA quaternion
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| 154 | * \param quaterniontB quaternion
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| 155 | *
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| 156 | * \return quaterniontA+quaterniontB
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| 157 | */
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| 158 | Quaternion operator+(Quaternion const &quaterniontA,
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| 159 | Quaternion const &quaterniontB);
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[2] | 160 |
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[13] | 161 | /*! Substract
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| 162 | *
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| 163 | * \brief Substract
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| 164 | *
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| 165 | * \param quaterniontA quaternion
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| 166 | * \param quaterniontB quaternion
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| 167 | *
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| 168 | * \return quaterniontA-quaterniontB
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| 169 | */
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| 170 | Quaternion operator-(Quaternion const &quaternionA,
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| 171 | Quaternion const &quaterniontB);
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[2] | 172 |
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[13] | 173 | /*! Minus
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| 174 | *
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| 175 | * \brief Minus
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| 176 | *
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| 177 | * \param quaternion quaternion
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| 178 | *
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| 179 | * \return -quaternion
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| 180 | */
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| 181 | Quaternion operator-(const Quaternion &quaternion);
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[2] | 182 |
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[13] | 183 | /*! Multiply
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| 184 | *
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| 185 | * \brief Multiply
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| 186 | *
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| 187 | * \param quaterniontA quaternion
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| 188 | * \param quaterniontB quaternion
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| 189 | *
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| 190 | * \return quaterniontA*quaterniontB
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| 191 | */
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| 192 | Quaternion operator*(Quaternion const &quaternionA,
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| 193 | Quaternion const &quaterniontB);
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[2] | 194 |
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[13] | 195 | /*! Multiply
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| 196 | *
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| 197 | * \brief Multiply
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| 198 | *
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| 199 | * \param coeff coefficient
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| 200 | * \param quat quaternion
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| 201 | *
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| 202 | * \return coeff*quat
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| 203 | */
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| 204 | Quaternion operator*(float coeff, Quaternion const &quaternion);
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[2] | 205 |
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[13] | 206 | /*! Multiply
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| 207 | *
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| 208 | * \brief Multiply
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| 209 | *
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| 210 | * \param quat quaternion
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| 211 | * \param coeff coefficient
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| 212 | *
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| 213 | * \return coeff*quat
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| 214 | */
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| 215 | Quaternion operator*(Quaternion const &quaternion, float coeff);
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[2] | 216 |
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| 217 | } // end namespace core
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| 218 | } // end namespace flair
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| 219 |
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| 220 | #endif // QUATERNION_H
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