source: flair-src/trunk/lib/FlairCore/src/Quaternion.h

Last change on this file was 336, checked in by Sanahuja Guillaume, 2 years ago

use float

File size: 3.9 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file Quaternion.h
7 * \brief Class defining a quaternion
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2016/02/03
10 * \version 4.0
11 */
12#ifndef QUATERNION_H
13#define QUATERNION_H
14
15#include <Vector3D.h>
16
17namespace flair {
18namespace core {
19class Euler;
20class RotationMatrix;
21
22/*! \class Quaternion
23*
24* \brief Class defining a quaternion
25*/
26class Quaternion {
27public:
28  /*!
29  * \brief Constructor
30  *
31  * Construct a quaternion using specified values.
32  *
33  * \param q0, scalar part
34  * \param q1
35  * \param q2
36  * \param q3
37  */
38  Quaternion(float q0 = 1, float q1 = 0, float q2 = 0, float q3 = 0);
39
40  /*!
41  * \brief Destructor
42  *
43  */
44  ~Quaternion();
45
46  /*!
47  * \brief Norm
48  *
49  * \return norm
50  */
51  float GetNorm(void) const;
52
53  /*!
54  * \brief Normalize
55  */
56  void Normalize(void);
57
58  /*!
59  * \brief Logarithm
60  *
61  * This method also Normalize the quaternion.
62  *
63  * \param logarithm output logarithm
64  */
65  void GetLogarithm(Vector3Df &logarithm);
66
67  /*!
68  * \brief Logarithm
69  *
70  * This method also Normalize the quaternion.
71  *
72  * \return output logarithm
73  */
74  Vector3Df GetLogarithm(void);
75
76  /*!
77  * \brief Conjugate
78  */
79  void Conjugate(void);
80
81  /*!
82  * \brief Conjugate
83  *
84  * \return Conjugate
85  */
86  Quaternion GetConjugate(void);
87
88  /*!
89  * \brief Derivative
90  *
91  * \param w angular speed
92  *
93  * \return derivative
94  */
95  Quaternion GetDerivative(const Vector3Df &angularSpeed) const;
96
97  /*!
98  * \brief Derivate
99  *
100  * \param w rotationonal speed
101  */
102  void Derivate(const Vector3Df &angularSpeed);
103
104  /*!
105  * \brief Convert to euler angles
106  *
107  * \param euler output euler angles
108  */
109  void ToEuler(Euler &euler) const;
110
111  /*!
112  * \brief Convert to euler angles
113  *
114  * \return euler angles
115  */
116  Euler ToEuler(void) const;
117 
118  /*!
119  * \brief Get roll euler angle
120  *
121  * \return roll euler angle
122  */
123  float GetEulerRoll(void) const;
124 
125  /*!
126  * \brief Get pitch euler angle
127  *
128  * \return pitch euler angle
129  */
130  float GetEulerPitch(void) const;
131 
132  /*!
133  * \brief Get yaw euler angle
134  *
135  * \return yaw euler angle
136  */
137  float GetEulerYaw(void) const;
138
139  /*!
140  * \brief Convert to rotation matrix
141  *
142  * \param m output matrix
143  */
144  void ToRotationMatrix(RotationMatrix &matrix) const;
145
146  /*!
147  * \brief q0
148  */
149  float q0;
150
151  /*!
152  * \brief q1
153  */
154  float q1;
155
156  /*!
157  * \brief q2
158  */
159  float q2;
160
161  /*!
162  * \brief q3
163  */
164  float q3;
165
166  Quaternion &operator+=(const Quaternion &quaternion);
167  Quaternion &operator-=(const Quaternion &quaternion);
168  Quaternion &operator=(const Quaternion &quaternion);
169};
170
171/*! Add
172*
173* \brief Add
174*
175* \param quaterniontA quaternion
176* \param quaterniontB quaternion
177*
178* \return quaterniontA+quaterniontB
179*/
180Quaternion operator+(Quaternion const &quaterniontA,
181                     Quaternion const &quaterniontB);
182
183/*! Substract
184*
185* \brief Substract
186*
187* \param quaterniontA quaternion
188* \param quaterniontB quaternion
189*
190* \return quaterniontA-quaterniontB
191*/
192Quaternion operator-(Quaternion const &quaternionA,
193                     Quaternion const &quaterniontB);
194
195/*! Minus
196*
197* \brief Minus
198*
199* \param quaternion quaternion
200*
201* \return -quaternion
202*/
203Quaternion operator-(const Quaternion &quaternion);
204
205/*! Multiply
206*
207* \brief Multiply
208*
209* \param quaterniontA quaternion
210* \param quaterniontB quaternion
211*
212* \return quaterniontA*quaterniontB
213*/
214Quaternion operator*(Quaternion const &quaternionA,
215                     Quaternion const &quaterniontB);
216
217/*! Multiply
218*
219* \brief Multiply
220*
221* \param coeff coefficient
222* \param quat quaternion
223*
224* \return coeff*quat
225*/
226Quaternion operator*(float coeff, Quaternion const &quaternion);
227
228/*! Multiply
229*
230* \brief Multiply
231*
232* \param quat quaternion
233* \param coeff coefficient
234*
235* \return coeff*quat
236*/
237Quaternion operator*(Quaternion const &quaternion, float coeff);
238
239} // end namespace core
240} // end namespace flair
241
242#endif // QUATERNION_H
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