Quaternion.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_QUATERNION
#define YARP_QUATERNION
 
#include <yarp/math/api.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <yarp/os/Portable.h>
 
// network stuff
#include <yarp/os/NetInt32.h>
 
namespace yarp {
    namespace math {
        class Quaternion;
    }
}
 
class YARP_math_API yarp::math::Quaternion : public yarp::os::Portable
{
    double internal_data[4]; // stored as [w x y z]
 
public:
    Quaternion();
    Quaternion(double x, double y, double z, double w);
    double* data();
    const double* data() const;
    double x() const;
    double y() const;
    double z() const;
    double w() const;
    double& x() ;
    double& y() ;
    double& z() ;
    double& w() ;
 
    std::string toString(int precision = -1, int width = -1) const;
 
    double abs();
 
    void normalize();
 
    Quaternion inverse() const;
 
    double arg();
 
    void fromAxisAngle(const yarp::sig::Vector &v);
 
    void fromAxisAngle(const yarp::sig::Vector& axis, const double& angle);
 
 
    yarp::sig::Vector toAxisAngle();
 
    void fromRotationMatrix(const yarp::sig::Matrix &R);
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
 
    YARP_DEPRECATED_MSG("Use toRotationMatrix4x4 instead")
    yarp::sig::Matrix toRotationMatrix() const { return toRotationMatrix4x4(); }
#endif
 
    yarp::sig::Matrix toRotationMatrix4x4() const;
 
    yarp::sig::Matrix toRotationMatrix3x3() const;
 
    yarp::sig::Vector toVector() const;
 
    /*
    * Read vector from a connection.
    * return true iff a vector was read correctly
    */
    bool read(yarp::os::ConnectionReader& connection) override;
 
    bool write(yarp::os::ConnectionWriter& connection) const override;
 
    yarp::os::Type getType() const override
    {
        return yarp::os::Type::byName("yarp/quaternion");
    }
 
 
};
 
#endif