quaternion.h

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/*
 * Author: Steven Ludtke, 04/10/2003 (sludtke@bcm.edu)
 * Copyright (c) 2000-2006 Baylor College of Medicine
 * 
 * This software is issued under a joint BSD/GNU license. You may use the
 * source code in this file under either license. However, note that the
 * complete EMAN2 and SPARX software packages have some GPL dependencies,
 * so you are responsible for compliance with the licenses of these packages
 * if you opt to use BSD licensing. The warranty disclaimer below holds
 * in either instance.
 * 
 * This complete copyright notice must be included in any revised version of the
 * source code. Additional authorship citations may be added, but existing
 * author citations must be preserved.
 * 
 * This program 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 2 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 this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * */
 
#ifndef eman__quaternion_h__
#define eman__quaternion_h__ 1
 
#include "vec3.h"
 
namespace EMAN
{
        class Quaternion
        {
          public:
                Quaternion();
                Quaternion(float e0, float e1, float e2, float e3);
                Quaternion(float radians, const Vec3f &axis);
                Quaternion(const Vec3f &axis, float radians);
                explicit Quaternion(const vector<float> & matrix3);
                
                ~Quaternion()
                {
                }
 
                float norm() const
                {
                        return (e0 * e0 + e1 * e1 + e2 * e2 + e3 * e3);
                }
 
                Quaternion conj() const
                {
                        return (Quaternion(e0, -e1, -e2, -e3));
                }
 
                float abs() const
                {
                        return sqrt(norm());
                }
 
                void normalize();
                Quaternion & inverse();
                Quaternion create_inverse() const;
 
                Vec3f rotate(const Vec3f &v) const;
 
                float to_angle() const;
                Vec3f to_axis() const;
 
                vector<float> to_matrix3() const;
 
                float real() const;
                Vec3f unreal() const;
 
                vector < float > as_list() const;
 
                Quaternion & operator+=(const Quaternion & q);
                Quaternion & operator-=(const Quaternion & q);
                Quaternion & operator*=(const Quaternion & q);
                Quaternion & operator*=(float s);
                Quaternion & operator/=(const Quaternion & q);
                Quaternion & operator/=(float s);
 
                static Quaternion interpolate(const Quaternion & from, const Quaternion & to,
                                                                          float percent);
          private:
                float e0;
                float e1;
                float e2;
                float e3;
        };
 
        Quaternion operator+(const Quaternion & q1, const Quaternion & q2);
        Quaternion operator-(const Quaternion & q1, const Quaternion & q2);
 
        Quaternion operator*(const Quaternion & q1, const Quaternion & q2);
        Quaternion operator*(const Quaternion & q, float s);
        Quaternion operator*(float s, const Quaternion & q);
        Quaternion operator/(const Quaternion & q1, const Quaternion & q2);
 
        bool operator==(const Quaternion & q1, const Quaternion & q2);
        bool operator!=(const Quaternion & q1, const Quaternion & q2);
}
 
#endif  //eman__quaternion_h__