quaternion.hh

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/* -*- mia-c++  -*-
 *
 * This file is part of MIA - a toolbox for medical image analysis
 * Copyright (c) Leipzig, Madrid 1999-2017 Gert Wollny
 *
 * MIA is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with MIA; if not, see <http://www.gnu.org/licenses/>.
 *
 */
 
#ifndef mia_3d_quaternion_hh
#define mia_3d_quaternion_hh
 
#include <mia/3d/defines3d.hh>
#include <mia/3d/matrix.hh>
#include <mia/3d/vector.hh>
 
#include <ostream>
#include <cmath>
 
NS_MIA_BEGIN
 

 
class EXPORT_3D Quaternion
{
 
public:
       Quaternion();

       Quaternion(const Quaternion& other) = default;

       Quaternion(const C3DDVector& rot);
 

       Quaternion(const C3DFMatrix& rot);

       Quaternion(const C3DDMatrix& rot);

       Quaternion(double w, double  x, double y, double z);

 
       friend bool operator == (const Quaternion& a, const Quaternion& b);

       double norm() const;

       void normalize();

       Quaternion inverse() const;

       C3DDVector get_euler_angles() const;

       Quaternion& operator += (const Quaternion& other);

       Quaternion& operator -= (const Quaternion& other);

 
       Quaternion& operator *= (const Quaternion& other);

       void print(std::ostream& os) const;

       double w() const;

       double x() const;

       double y() const;

       double z() const;
 
       const C3DDMatrix get_rotation_matrix() const;
 
       static const Quaternion _1;
 
private:
       C3DDVector m_v;
       double m_w;
};
 
bool EXPORT_3D operator == (const Quaternion& a, const Quaternion& b);
bool EXPORT_3D operator != (const Quaternion& a, const Quaternion& b);
 
 
inline double Quaternion::w() const
{
       return m_w;
}
 
inline double Quaternion::x() const
{
       return m_v.x;
}
 
inline double Quaternion::y() const
{
       return m_v.y;
}
 
inline double Quaternion::z() const
{
       return m_v.z;
}
 
 
 
inline std::ostream& operator << (std::ostream& os, const Quaternion& a)
{
       a.print(os);
       return os;
}
 
EXPORT_3D std::istream& operator >> (std::istream& os, Quaternion& a);
 
NS_MIA_END
 
#endif