quaternion.hpp

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00001 /*
00002 **    TP ETI5 CPE Lyon
00003 **    Copyright (C) 2010 Damien Rohmer
00004 **
00005 **    This program is free software: you can redistribute it and/or modify
00006 **    it under the terms of the GNU General Public License as published by
00007 **    the Free Software Foundation, either version 3 of the License, or
00008 **    (at your option) any later version.
00009 **
00010 **   This program is distributed in the hope that it will be useful,
00011 **    but WITHOUT ANY WARRANTY; without even the implied warranty of
00012 **    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013 **    GNU General Public License for more details.
00014 **
00015 **    You should have received a copy of the GNU General Public License
00016 **    along with this program.  If not, see <http://www.gnu.org/licenses/>.
00017 */
00018 
00019 
00020 
00021 #ifndef _QUATERNION_HPP_
00022 #define _QUATERNION_HPP_
00023 
00024 #include <v4.hpp>
00025 
00026 namespace cpe
00027 {
00028     class v3;
00029     class matrix3;
00030 
00032     class quaternion: public v4
00033     {
00034     public:
00035 
00036         // ********************************************* //
00037         // ********************************************* //
00038         //  CONSTRUCTORS
00039         // ********************************************* //
00040         // ********************************************* //
00041 
00043         quaternion();
00045         quaternion(const v3& axis,const double& angle);
00047         quaternion(const v4& entries);
00048 
00049 
00050         // ********************************************* //
00051         // ********************************************* //
00052         //  GET
00053         // ********************************************* //
00054         // ********************************************* //
00055 
00057         v3 axis() const;
00059         double angle() const;
00060 
00061 
00062         // ********************************************* //
00063         // ********************************************* //
00064         //  Math
00065         // ********************************************* //
00066         // ********************************************* //
00067 
00068 
00072         matrix3 matrix() const;
00073 
00075         quaternion conjugated() const;
00076 
00082         static quaternion slerp(const quaternion& q0,const quaternion& q1,const double& t);
00083 
00084 
00085         // ********************************************* //
00086         // ********************************************* //
00087         //  Operators
00088         // ********************************************* //
00089         // ********************************************* //
00090 
00092         friend quaternion operator*(const quaternion& q0,const quaternion& q1);
00094         quaternion& operator*=(const quaternion& q1);
00095 
00097         friend v3 operator*(const quaternion& q,const v3& v);
00098 
00099     private:
00100 
00101     };
00102 }
00103 
00104 #endif
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