PARP Research Group

Universidad de Murcia

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src/qvmath/qvquaternion.h Go to the documentation of this file. /* * Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group. * <http://perception.inf.um.es> * University of Murcia, Spain. * * This file is part of the QVision library. * * QVision is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, version 3 of the License. * * QVision 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 Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with QVision. If not, see <http://www.gnu.org/licenses/>. */ #ifndef QVQUATERNION_H #define QVQUATERNION_H #include <math.h> #include <iostream> #include <QVVector> #include <QV3DPointF> class QVMatrix; class QVQuaternion: public QVVector { public: // Constructors QVQuaternion(); QVQuaternion(const QVVector direction, const double phi); QVQuaternion(const QVVector &source):QVVector(source) { Q_ASSERT(norm2() > 0); }; QVQuaternion(const QVVector direction, float phi); QVQuaternion(const double i, const double j, const double k, const double r); QVQuaternion(const double xAngle, const double yAngle, const double zAngle); QVQuaternion(const QVMatrix &matrix); QVQuaternion operator*(const QVQuaternion &quaternion) const { return quaternionProduct(quaternion); }; QVQuaternion(const QVQuaternion &quaternion): QVVector(quaternion) { } static QVQuaternion trackball(float p1x, float p1y, float p2x, float p2y); QVQuaternion quaternionProduct(const QVQuaternion &quaternion) const; void toEulerAngles(double &xAngle, double &yAngle, double &zAngle) const; QVMatrix toRotationMatrix() const; QVQuaternion conjugate() const; QVQuaternion inverse() const; double norm2() const; QV3DPointF rotate(const QV3DPointF &v) const; inline double &real() { return operator[](3); } inline double &i() { return operator[](0); } inline double &j() { return operator[](1); } inline double &k() { return operator[](2); } inline double real() const { return operator[](3); } inline double i() const { return operator[](0); } inline double j() const { return operator[](1); } inline double k() const { return operator[](2); } QVQuaternion normalizeQuaternion() const; }; std::ostream& operator << ( std::ostream &os, const QVQuaternion &quaternion ); #endif

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