Quaternion.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef QUATERNION_H
#define QUATERNION_H

#include <Vector3D.h>

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

class Quaternion {
public:
  Quaternion(float q0 = 1, float q1 = 0, float q2 = 0, float q3 = 0);

  ~Quaternion();

  float GetNorm(void) const;

  void Normalize(void);

  void GetLogarithm(Vector3Df &logarithm);

  Vector3Df GetLogarithm(void);

  void Conjugate(void);

  Quaternion GetConjugate(void);

  Quaternion GetDerivative(const Vector3Df &angularSpeed) const;

  void Derivate(const Vector3Df &angularSpeed);

  void ToEuler(Euler &euler) const;

  Euler ToEuler(void) const;

  void ToRotationMatrix(RotationMatrix &matrix) const;

  float q0;

  float q1;

  float q2;

  float q3;

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

Quaternion operator+(Quaternion const &quaterniontA,
                     Quaternion const &quaterniontB);

Quaternion operator-(Quaternion const &quaternionA,
                     Quaternion const &quaterniontB);

Quaternion operator-(const Quaternion &quaternion);

Quaternion operator*(Quaternion const &quaternionA,
                     Quaternion const &quaterniontB);

Quaternion operator*(float coeff, Quaternion const &quaternion);

Quaternion operator*(Quaternion const &quaternion, float coeff);

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

#endif // QUATERNION_H