Quaternion.hpp

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#pragma once

#include <boost/shared_ptr.hpp>
#include <Eigen/Geometry>
#include "Serializable.hpp"

namespace ISM {
class Quaternion : public Serializable {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    //Using a public eigen datastructure to avoid the need to convert it to other structure to do any math.
    Eigen::Quaternion<double> eigen;

  Quaternion() : eigen(1.0, 0.0, 0.0, 0.0) { }
  Quaternion(double w, double x, double y, double z) : eigen(w, x, y, z) { }
  Quaternion(Eigen::Quaternion<double> q) : eigen(q) { }

    virtual void serialize(std::ostream& strm) const;
  Eigen::Quaternion<double> getEigen();
};
typedef boost::shared_ptr<Quaternion> QuaternionPtr;

bool operator==(const QuaternionPtr& q1, const QuaternionPtr& q2);
bool operator==(const Quaternion& q1, const Quaternion& q2);

std::ostream& operator<<(std::ostream &strm, const ISM::Quaternion &q);
std::ostream& operator<<(std::ostream &strm, const ISM::QuaternionPtr &q);
}