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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Quaternion.hpp
*
* math quaternion lib
*/
#pragma once
#include "Vector.hpp"
#include "Matrix.hpp"
namespace math
{
class Dcm;
class EulerAngles;
class __EXPORT Quaternion : public Vector
{
public:
/**
* default ctor
*/
Quaternion();
/**
* ctor from floats
*/
Quaternion(float a, float b, float c, float d);
/**
* ctor from data
*/
Quaternion(const float *data);
/**
* ctor from Vector
*/
Quaternion(const Vector &v);
/**
* ctor from EulerAngles
*/
Quaternion(const EulerAngles &euler);
/**
* ctor from Dcm
*/
Quaternion(const Dcm &dcm);
/**
* deep copy ctor
*/
Quaternion(const Quaternion &right);
/**
* dtor
*/
virtual ~Quaternion();
/**
* derivative
*/
Vector derivative(const Vector &w);
/**
* accessors
*/
void setA(float a) { (*this)(0) = a; }
void setB(float b) { (*this)(1) = b; }
void setC(float c) { (*this)(2) = c; }
void setD(float d) { (*this)(3) = d; }
const float &getA() const { return (*this)(0); }
const float &getB() const { return (*this)(1); }
const float &getC() const { return (*this)(2); }
const float &getD() const { return (*this)(3); }
};
int __EXPORT quaternionTest();
} // math
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