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authorNicolas Schodet2015-10-26 13:19:01 +0100
committerNicolas Schodet2019-10-07 00:44:50 +0200
commit5487719b70fa89fdffae413b2d00f2a928cfc2a7 (patch)
tree3302797031138116df0fc86fe6f0b7db4e9ed9b4 /ucoo/math/quaternion.hh
parent9b163537e83eea2c65358135dc180e7bf2da1a51 (diff)
ucoo/math: add quaternion for vector rotation
Diffstat (limited to 'ucoo/math/quaternion.hh')
-rw-r--r--ucoo/math/quaternion.hh51
1 files changed, 51 insertions, 0 deletions
diff --git a/ucoo/math/quaternion.hh b/ucoo/math/quaternion.hh
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+#ifndef ucoo_math_quaternion_hh
+#define ucoo_math_quaternion_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2015 Nicolas Schodet
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+// DEALINGS IN THE SOFTWARE.
+//
+// }}}
+#include "ucoo/math/yaw_pitch_roll.hh"
+#include "ucoo/math/vect3d.hh"
+
+namespace ucoo {
+
+/// Quaternion: w + ix + jy + kz.
+template<typename T>
+struct Quaternion
+{
+ T w, x, y, z;
+ public:
+ /// Default constructor, values are default initialized.
+ constexpr Quaternion ();
+ /// Construct from quaternion values.
+ constexpr Quaternion (T w_, T x_, T y_, T z_);
+ /// Construct a rotation quaternion from Yaw, Pitch and Roll.
+ Quaternion (const YawPitchRoll<T> &ypr);
+ /// Rotate a vector by a unit quaternion.
+ vect3d<T> rotate (const vect3d<T> &v) const;
+};
+
+} // namespace ucoo
+
+#include "quaternion.tcc"
+
+#endif // ucoo_math_quaternion_hh