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