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