OOPSE/libmdtools/Quaternion.hpp

#ifndef _QUATERNION_H_
#define _QUATERNION_H_
#include <iostream>
#include "Vector4d.hpp"
using namespace std;

class Mat3x3d;
class Euler3;
class Vector3d;

class Quaternion : public Vector4d{
  public:
    Quaternion(){
      x = 1.0;
      y = 0.0;
      z = 0.0;
      w = 0.0;
    }
    
    Quaternion(Mat3x3d& m);
    
    Quaternion(const Euler3& e);

    Quaternion& operator=( const Vector4d& v1 ){
      if(this == & v1)
        return *this;
      
      this->x = v1.x;
      this->y = v1.y;  
      this->z = v1.z;
      this->w = v1.w;
      
      return *this;
    }
    
    Mat3x3d toRotationMatrix();
    Euler3 toEuler();

};

#endif //end ifndef _QUATERNION_H_
Revision:	1452
Committed:	Mon Aug 23 15:11:36 2004 UTC (21 years, 2 months ago) by tim
File size:	683 byte(s)
Log Message:	* empty log message *
#	Content
1	#ifndef _QUATERNION_H_
2	#define _QUATERNION_H_
3	#include <iostream>
4	#include "Vector4d.hpp"
5	using namespace std;
6
7	class Mat3x3d;
8	class Euler3;
9	class Vector3d;
10
11	class Quaternion : public Vector4d{
12	public:
13	Quaternion(){
14	x = 1.0;
15	y = 0.0;
16	z = 0.0;
17	w = 0.0;
18	}
19
20	Quaternion(Mat3x3d& m);
21
22	Quaternion(const Euler3& e);
23
24	Quaternion& operator=( const Vector4d& v1 ){
25	if(this == & v1)
26	return *this;
27
28	this->x = v1.x;
29	this->y = v1.y;
30	this->z = v1.z;
31	this->w = v1.w;
32
33	return *this;
34	}
35
36	Mat3x3d toRotationMatrix();
37	Euler3 toEuler();
38
39	};
40
41	#endif //end ifndef _QUATERNION_H_