Quaternion.h

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/*
 * 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
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#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