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#ifndef _QUATERNION_H_ |
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#define _QUATERNION_H_ |
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#include <iostream> |
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#include "Vector4d.hpp" |
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using namespace std; |
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class Mat3x3d; |
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class Euler3; |
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class Vector3d; |
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class Quaternion{ |
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class Quaternion : public Vector4d{ |
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public: |
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Quaternion(){ |
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x = 1.0; |
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y = 0.0; |
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z = 0.0; |
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w = 0.0; |
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} |
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Quaternion(double x, double y, double z, double w){ |
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this->x = x; |
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this->y = y; |
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this->z = z; |
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this->w = w; |
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} |
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Quaternion(const Quaternion& q){ |
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this->x = q.x; |
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this->y = q.y; |
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this->z = q.z; |
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this->w = q.w; |
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} |
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Quaternion(Mat3x3d& m); |
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Quaternion(const Euler3& e); |
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inline double& operator[](unsigned int i) { |
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switch (i){ |
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case 0: |
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return x; |
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case 1: |
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return y; |
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case 2: |
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return z; |
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case 3: |
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return w; |
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default: |
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cerr << "error in Quaternion::::operator[]" << endl |
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<< "The method has been called with an illegal index i=" << i << "." << endl; |
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exit(1); |
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} |
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} |
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Quaternion& operator=( const Vector4d& v1 ){ |
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if(this == & v1) |
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return *this; |
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this->x = v1.x; |
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this->y = v1.y; |
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this->z = v1.z; |
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this->w = v1.w; |
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return *this; |
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} |
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Mat3x3d toRotationMatrix(); |
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Euler3 toEuler(); |
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union{ |
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struct{ |
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double x; |
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double y; |
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double z; |
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double w; |
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}; |
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double quat[4]; |
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}; |
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}; |
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#endif //end ifndef _QUATERNION_H_ |
