OOPSE/libmdtools/Quaternion.hpp

#ifndef _QUATERNION_H_
#define _QUATERNION_H_
#include <iostream>
#include "Vector4d.hpp"
using namespace std;

class Mat3x3d;
class Euler3;
class Vector3d;

class Quaternion : public Vector4d{
  public:
    Quaternion(){
      x = 1.0;
      y = 0.0;
      z = 0.0;
      w = 0.0;
    }
    
    Quaternion(Mat3x3d& m);
    
    Quaternion(const Euler3& e);

    Quaternion& operator=( const Vector4d& v1 ){
      if(this == & v1)
        return *this;
      
      this->x = v1.x;
      this->y = v1.y;  
      this->z = v1.z;
      this->w = v1.w;
      
      return *this;
    }
    
    Mat3x3d toRotationMatrix();
    Euler3 toEuler();

};

#endif //end ifndef _QUATERNION_H_
Revision:	1452
Committed:	Mon Aug 23 15:11:36 2004 UTC (19 years, 10 months ago) by tim
File size:	683 byte(s)
Log Message:	* empty log message *
#	User	Rev	Content
1	tim	1254	#ifndef _QUATERNION_H_
2			#define _QUATERNION_H_
3			#include <iostream>
4	tim	1452	#include "Vector4d.hpp"
5	tim	1254	using namespace std;
6
7			class Mat3x3d;
8			class Euler3;
9			class Vector3d;
10
11	tim	1452	class Quaternion : public Vector4d{
12	tim	1254	public:
13			Quaternion(){
14	tim	1452	x = 1.0;
15			y = 0.0;
16			z = 0.0;
17			w = 0.0;
18	tim	1254	}
19
20			Quaternion(Mat3x3d& m);
21
22			Quaternion(const Euler3& e);
23	tim	1452
24			Quaternion& operator=( const Vector4d& v1 ){
25			if(this == & v1)
26			return *this;
27
28			this->x = v1.x;
29			this->y = v1.y;
30			this->z = v1.z;
31			this->w = v1.w;
32
33			return *this;
34			}
35	tim	1254
36			Mat3x3d toRotationMatrix();
37			Euler3 toEuler();
38	tim	1452
39	tim	1254	};
40
41			#endif //end ifndef _QUATERNION_H_