source: flair-src/trunk/lib/FlairCore/src/Quaternion.h@ 438

Last change on this file since 438 was 336, checked in by Sanahuja Guillaume, 5 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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