OOPSE/libmdtools/Quaternion.hpp

#ifndef _QUATERNION_H_
#define _QUATERNION_H_
#include <iostream>
using namespace std;

class Mat3x3d;
class Euler3;
class Vector3d;

class Quaternion{
  public:
    Quaternion(){
    }
    
    Quaternion(double x, double y, double z, double w){
      this->x = x;
      this->y = y;
      this->z = z;
      this->w = w;
    }
    
    Quaternion(const Quaternion& q){
      this->x = q.x;
      this->y = q.y;
      this->z = q.z;
      this->w = q.w;
    }
    
    Quaternion(Mat3x3d& m);
    
    Quaternion(const Euler3& e);
    
    inline double& operator[](unsigned int  i) {
      switch (i){
        case 0:
          return x;
        case 1:
          return y;
        case 2:
          return z;
        case 3:
          return w;
        default:
          cerr << "error in Quaternion::::operator[]" << endl
           << "The method has been called with an illegal index i=" << i << "." << endl;
          exit(1);
      }
    }

    Mat3x3d toRotationMatrix();
    Euler3 toEuler();
    
    union{
      struct{
        double x;
        double y;
        double z;
        double w;
      };
      double quat[4];
    };
};

#endif //end ifndef _QUATERNION_H_
Revision:	1254
Committed:	Wed Jun 9 16:16:33 2004 UTC (21 years, 4 months ago) by tim
File size:	1180 byte(s)
Log Message:	1. adding some useful math classes(Mat3x3d, Vector3d, Quaternion, Euler3) these classes use anonymous union and struct to support double[3], double[3][3] and double[4] 2. adding roll constraint algorithm
#	User	Rev	Content
1	tim	1254	#ifndef _QUATERNION_H_
2			#define _QUATERNION_H_
3			#include <iostream>
4			using namespace std;
5
6			class Mat3x3d;
7			class Euler3;
8			class Vector3d;
9
10			class Quaternion{
11			public:
12			Quaternion(){
13			}
14
15			Quaternion(double x, double y, double z, double w){
16			this->x = x;
17			this->y = y;
18			this->z = z;
19			this->w = w;
20			}
21
22			Quaternion(const Quaternion& q){
23			this->x = q.x;
24			this->y = q.y;
25			this->z = q.z;
26			this->w = q.w;
27			}
28
29			Quaternion(Mat3x3d& m);
30
31			Quaternion(const Euler3& e);
32
33			inline double& operator[](unsigned int i) {
34			switch (i){
35			case 0:
36			return x;
37			case 1:
38			return y;
39			case 2:
40			return z;
41			case 3:
42			return w;
43			default:
44			cerr << "error in Quaternion::::operator[]" << endl
45			<< "The method has been called with an illegal index i=" << i << "." << endl;
46			exit(1);
47			}
48			}
49
50			Mat3x3d toRotationMatrix();
51			Euler3 toEuler();
52
53			union{
54			struct{
55			double x;
56			double y;
57			double z;
58			double w;
59			};
60			double quat[4];
61			};
62			};
63
64			#endif //end ifndef _QUATERNION_H_