#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 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 &ypr); /// Rotate a vector by a unit quaternion. vect3d rotate (const vect3d &v) const; }; } // namespace ucoo #include "quaternion.tcc" #endif // ucoo_math_quaternion_hh