vpQuaternionVector.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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 <visp3/core/vpConfig.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpThetaUVector.h>


class VISP_EXPORT vpQuaternionVector : public vpRotationVector
{
private:        
  static const double minimum;
public:
  vpQuaternionVector();
  vpQuaternionVector(const vpQuaternionVector &q);
  vpQuaternionVector(const double qx, const double qy, const double qz,const double qw) ;
  vpQuaternionVector(const vpRotationMatrix &R);
  vpQuaternionVector(const vpThetaUVector& tu) ;
  vpQuaternionVector(const vpColVector &q);

  virtual ~vpQuaternionVector() {};

  vpQuaternionVector buildFrom(const double qx, const double qy, const double qz, const double qw) ;
  vpQuaternionVector buildFrom(const vpRotationMatrix& R);
  vpQuaternionVector buildFrom(const vpThetaUVector& tu);
  void set(const double x, const double y, const double z, const double w) ;

  double x() const;
  double y() const;
  double z() const;
  double w() const;

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

  vpQuaternionVector conjugate() const;
  vpQuaternionVector inverse() const;
  double magnitude() const;
  void normalize();
} ;

#endif