/usr/include/visp/vpQuaternionVector.h is in libvisp-dev 2.8.0-4.
This file is owned by root:root, with mode 0o644.
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*
* $Id: vpQuaternionVector.h 4317 2013-07-17 09:40:17Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Quaternion definition.
*
* Authors:
* Filip Novotny
*
*****************************************************************************/
#ifndef __QUATERNIONVECTOR_H__
#define __QUATERNIONVECTOR_H__
/*!
\file vpQuaternionVector.h
\brief Class that consider the case of a quaternion and basic
operations on it.
*/
#include <visp/vpConfig.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpRotationVector.h>
/*!
\class vpQuaternionVector
\ingroup RotTransformation
\brief Defines a quaternion and its basic operations.
A quaternion is defined by four values: \f${\bf q} = (x, y, z, w)\f$.
This class allows to compute a quaternion from a rotation matrix
using either vpQuaternionVector(const vpRotationMatrix &) constructor
or buildFrom() method.
It also defines common operations on a quaternion such as:
- multiplication (scalar and quaternion)
- addition
- substraction.
*/
class VISP_EXPORT vpQuaternionVector : public vpRotationVector
{
private:
static const double minimum;
public:
vpQuaternionVector() ;
vpQuaternionVector(const double x, const double y, const double z,const double w) ;
vpQuaternionVector(const vpQuaternionVector &q);
vpQuaternionVector(const vpRotationMatrix &R);
void buildFrom(const vpRotationMatrix& R);
void set(const double x, const double y, const double z,const double w) ;
//! Returns x-component of the quaternion.
inline double x() const {return r[0];}
//! Returns y-component of the quaternion.
inline double y() const {return r[1];}
//! Returns z-component of the quaternion.
inline double z() const {return r[2];}
//! Returns w-component of the quaternion.
inline double w() const {return r[3];}
vpQuaternionVector operator+( vpQuaternionVector &q) ;
vpQuaternionVector operator-( vpQuaternionVector &q) ;
vpQuaternionVector operator-() ;
vpQuaternionVector operator*(const double l) ;
vpQuaternionVector operator* ( vpQuaternionVector &rq) ;
vpQuaternionVector &operator=( vpQuaternionVector &q);
} ;
#endif
/*
* Local variables:
* c-basic-offset: 4
* End:
*/
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