.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_math_Quaternion.h:

Program Listing for File Quaternion.h
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_math_Quaternion.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/math/Quaternion.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
    * https://octomap.github.io/
    *
    * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
    * All rights reserved.
    * License: New BSD
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the University of Freiburg nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef OCTOMATH_QUATERNION_H
   #define OCTOMATH_QUATERNION_H
   
   #include "Vector3.h"
   
   #include <iostream>
   #include <vector>
   
   
   namespace octomath {
   
     class Quaternion {
   
     public:
   
       inline Quaternion() { u() = 1;  x() = 0; y() = 0; z() = 0;  }
   
       Quaternion(const Quaternion& other);
   
       Quaternion(float u, float x, float y, float z);
   
       Quaternion(const Vector3& other);
   
       Quaternion(double roll, double pitch, double yaw);
   
   
        
       Quaternion(const Vector3& axis, double angle);
   
   
       Vector3 toEuler() const;
   
       void toRotMatrix(std::vector <double>& rot_matrix_3_3) const;
   
   
       inline const float& operator() (unsigned int i) const { return data[i]; }
       inline float& operator() (unsigned int i) { return data[i]; }
   
       float norm () const;
       Quaternion  normalized () const;
       Quaternion& normalize ();
   
   
       void operator/= (float x);
       Quaternion& operator= (const Quaternion& other);
       bool operator== (const Quaternion& other) const;
   
       Quaternion operator* (const Quaternion& other) const;
   
       Quaternion operator* (const Vector3 &v) const;
   
       friend Quaternion operator* (const Vector3 &v, const Quaternion &q);
   
       inline Quaternion inv() const {  return Quaternion(u(), -x(), -y(), -z()); }
   
   
       Quaternion& inv_IP();
   
       Vector3 rotate(const Vector3 &v) const;
   
       inline float& u() { return data[0]; }
       inline float& x() { return data[1]; }
       inline float& y() { return data[2]; }
       inline float& z() { return data[3]; }
   
       inline const float& u() const { return data[0]; }
       inline const float& x() const { return data[1]; }
       inline const float& y() const { return data[2]; }
       inline const float& z() const { return data[3]; }
   
       std::istream& read(std::istream &s);
       std::ostream& write(std::ostream &s) const;
       std::istream& readBinary(std::istream &s);
       std::ostream& writeBinary(std::ostream &s) const;
   
     protected:
       float data[4];
   
     };
   
     std::ostream& operator<<(std::ostream& s, const Quaternion& q);
   
   }
   
   #endif