include/octomap/math/Quaternion.h

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// $Id: Quaternion.h 171 2011-01-20 13:56:28Z kai_wurm $

/*
 * Copyright (c) 2009-2011, K. M. Wurm, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef OCTOMATH_QUATERNION_H
#define OCTOMATH_QUATERNION_H

#include "Vector3.h"

#include <iostream>
#include <vector>


namespace octomath {

  class Quaternion {

  public:

    inline Quaternion() { u() = 1;  x() = 0; y() = 0; z() = 0;  }

    Quaternion(const Quaternion& other);

    Quaternion(float u, float x, float y, float z);

    Quaternion(const Vector3& other);

    Quaternion(double roll, double pitch, double yaw);


     
    Quaternion(const Vector3& axis, double angle);


    Vector3 toEuler() const;

    void toRotMatrix(std::vector <double>& rot_matrix_3_3) const;


    inline const float& operator() (unsigned int i) const { return data[i]; }
    inline float& operator() (unsigned int i) { return data[i]; }

    float norm () const;
    Quaternion  normalized () const;
    Quaternion& normalize ();


    void operator/= (float x);
    Quaternion& operator= (const Quaternion& other);
    bool operator== (const Quaternion& other) const;

    Quaternion operator* (const Quaternion& other) const;

    Quaternion operator* (const Vector3 &v) const;

    friend Quaternion operator* (const Vector3 &v, const Quaternion &q);

    inline Quaternion inv() const {  return Quaternion(u(), -x(), -y(), -z()); }


    Quaternion& inv_IP();

    Vector3 rotate(const Vector3 &v) const;

    inline float& u() { return data[0]; }
    inline float& x() { return data[1]; }
    inline float& y() { return data[2]; }
    inline float& z() { return data[3]; }

    inline const float& u() const { return data[0]; }
    inline const float& x() const { return data[1]; }
    inline const float& y() const { return data[2]; }
    inline const float& z() const { return data[3]; }

    std::istream& read(std::istream &s);
    std::ostream& write(std::ostream &s) const;
    std::istream& readBinary(std::istream &s);
    std::ostream& writeBinary(std::ostream &s) const;

  protected:
    float data[4];

  };

  std::ostream& operator<<(std::ostream& s, const Quaternion& q);

}

#endif