vpQuaternionVector.h

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/****************************************************************************
 *
 * $Id: vpQuaternionVector.h 3506 2011-11-29 19:29:31Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2011 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Quaternion definition.
 *
 * Authors:
 * Filip Novotny
 *
 *****************************************************************************/



#ifndef __QUATERNIONVECTOR_H__
#define __QUATERNIONVECTOR_H__

#include <visp/vpConfig.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpColVector.h>


class VISP_EXPORT vpQuaternionVector : public vpColVector
{
private:        
  static const double minimum;
  double r[4];
public:

  vpQuaternionVector() ;    
  vpQuaternionVector(const double x, const double y, const double z,const double w) ;    
  vpQuaternionVector(const vpQuaternionVector &q);
  vpQuaternionVector(const vpRotationMatrix &R);

  void buildFrom(const vpRotationMatrix& R);

  void set(const double x, const double y, const double z,const double w) ;
  unsigned int size(){return 4;}
  inline double x() const {return r[0];}
  inline double y() const {return r[1];}
  inline double z() const {return r[2];}
  inline double w() const {return r[3];}

  vpQuaternionVector operator+( vpQuaternionVector &q)  ;
  vpQuaternionVector operator-( vpQuaternionVector &q)  ;
  vpQuaternionVector operator-()  ;
  vpQuaternionVector operator*(const double l) ;
  vpQuaternionVector operator* ( vpQuaternionVector &rq) ;
  vpQuaternionVector &operator=( vpQuaternionVector &q);
  
    
} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 4
 * End:
 */