source: flair-src/trunk/lib/FlairCore/src/Quaternion.h@ 10

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Quaternion.h
 * \brief Class defining a quaternion
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2016/02/03
 * \version 4.0
 */
#ifndef QUATERNION_H
#define QUATERNION_H

namespace flair { namespace core {
    class Euler;
    class Vector3D;
    class RotationMatrix;

    /*! \class Quaternion
    *
    * \brief Class defining a quaternion
    */
    class Quaternion {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a quaternion using specified values.
            *
            * \param q0, scalar part
            * \param q1
            * \param q2
            * \param q3
            */
            Quaternion(float q0=1,float q1=0,float q2=0,float q3=0);

            /*!
            * \brief Destructor
            *
            */
            ~Quaternion();

            /*!
            * \brief Norm
            *
            * \return norm
            */
            float GetNorm(void) const;

            /*!
            * \brief Normalize
            */
            void Normalize(void);

            /*!
            * \brief Logarithm
            *
            * This method also Normalize the quaternion.
            *
            * \param logarithm output logarithm
            */
            void GetLogarithm(Vector3D &logarithm);

            /*!
            * \brief Logarithm
            *
            * This method also Normalize the quaternion.
            *
            * \return output logarithm
            */
            Vector3D GetLogarithm(void);

            /*!
            * \brief Conjugate
            */
            void Conjugate(void);

            /*!
            * \brief Conjugate
            *
            * \return Conjugate
            */
            Quaternion GetConjugate(void);

            /*!
            * \brief Derivative
            *
            * \param w angular speed
            *
            * \return derivative
            */
            Quaternion GetDerivative(const Vector3D &angularSpeed) const;

            /*!
            * \brief Derivate
            *
            * \param w rotationonal speed
            */
            void Derivate(const Vector3D &angularSpeed);

            /*!
            * \brief Convert to euler angles
            *
            * \param euler output euler angles
            */
            void ToEuler(Euler &euler) const;

            /*!
            * \brief Convert to euler angles
            *
            * \return euler angles
            */
            Euler ToEuler(void) const;

            /*!
            * \brief Convert to rotation matrix
            *
            * \param m output matrix
            */
            void ToRotationMatrix(RotationMatrix &matrix) const;

            /*!
            * \brief q0
            */
            float q0;

            /*!
            * \brief q1
            */
            float q1;

            /*!
            * \brief q2
            */
            float q2;

            /*!
            * \brief q3
            */
            float q3;

            Quaternion& operator+=(const Quaternion& quaternion);
            Quaternion& operator-=(const Quaternion& quaternion);
            Quaternion& operator=(const Quaternion& quaternion);
    };

    /*! Add
    *
    * \brief Add
    *
    * \param quaterniontA quaternion
    * \param quaterniontB quaternion
    *
    * \return quaterniontA+quaterniontB
    */
    Quaternion operator + (Quaternion const &quaterniontA,Quaternion const &quaterniontB);

    /*! Substract
    *
    * \brief Substract
    *
    * \param quaterniontA quaternion
    * \param quaterniontB quaternion
    *
    * \return quaterniontA-quaterniontB
    */
    Quaternion operator - (Quaternion const &quaternionA,Quaternion const &quaterniontB);

    /*! Minus
    *
    * \brief Minus
    *
    * \param quaternion quaternion
    *
    * \return -quaternion
    */
    Quaternion operator-(const Quaternion &quaternion);

    /*! Multiply
    *
    * \brief Multiply
    *
    * \param quaterniontA quaternion
    * \param quaterniontB quaternion
    *
    * \return quaterniontA*quaterniontB
    */
    Quaternion operator * (Quaternion const &quaternionA,Quaternion const &quaterniontB);

    /*! Multiply
    *
    * \brief Multiply
    *
    * \param coeff coefficient
    * \param quat quaternion
    *
    * \return coeff*quat
    */
    Quaternion operator * (float coeff,Quaternion const &quaternion);

    /*! Multiply
    *
    * \brief Multiply
    *
    * \param quat quaternion
    * \param coeff coefficient
    *
    * \return coeff*quat
    */
    Quaternion operator * (Quaternion const &quaternion,float coeff);

} // end namespace core
} // end namespace flair

#endif // QUATERNION_H