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 (20 years, 10 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
#	Content
1	#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_