vpQuaternionVector.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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.
 */

 
#ifndef VP_QUATERNION_VECTOR_H
#define VP_QUATERNION_VECTOR_H
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpRotationVector.h>
#include <visp3/core/vpThetaUVector.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpQuaternionVector : public vpRotationVector
{
public:
  vpQuaternionVector();
#if (VISP_CXX_STANDARD > VISP_CXX_STANDARD_98)
  vpQuaternionVector(const vpQuaternionVector &) = default;
  virtual ~vpQuaternionVector() VP_OVERRIDE = default;
#else
  virtual ~vpQuaternionVector() { }
#endif
  vpQuaternionVector(const double qx, const double qy, const double qz, const double qw);
  VP_EXPLICIT vpQuaternionVector(const vpRotationMatrix &R);
  VP_EXPLICIT vpQuaternionVector(const vpThetaUVector &tu);
  VP_EXPLICIT vpQuaternionVector(const vpColVector &q);
  VP_EXPLICIT vpQuaternionVector(const std::vector<double> &q);
 
  vpQuaternionVector &buildFrom(const double &qx, const double &qy, const double &qz, const double &qw);
  vpQuaternionVector &buildFrom(const vpRotationMatrix &R);
  vpQuaternionVector &buildFrom(const vpThetaUVector &tu);
  vpQuaternionVector &buildFrom(const vpColVector &q);
  vpQuaternionVector &buildFrom(const std::vector<double> &q);
 
  void set(double x, double y, double z, double w);
 
  const double &x() const;
  const double &y() const;
  const double &z() const;
  const double &w() const;
 
  double &x();
  double &y();
  double &z();
  double &w();
 
  vpQuaternionVector operator+(const vpQuaternionVector &q) const;
  vpQuaternionVector operator-(const vpQuaternionVector &q) const;
  vpQuaternionVector operator-() const;
  vpQuaternionVector operator*(double l) const;
  vpQuaternionVector operator*(const vpQuaternionVector &rq) const;
  vpQuaternionVector operator/(double l) const;
  vpQuaternionVector &operator=(const vpColVector &q);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  vpQuaternionVector &operator=(const vpQuaternionVector &) = default;
  vpQuaternionVector &operator=(const std::initializer_list<double> &list);
#endif
 
  vpQuaternionVector conjugate() const;
  vpQuaternionVector inverse() const;
  double magnitude() const;
  void normalize();
 
  static double dot(const vpQuaternionVector &q0, const vpQuaternionVector &q1);
 
  static vpQuaternionVector lerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
  static vpQuaternionVector nlerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
  static vpQuaternionVector slerp(const vpQuaternionVector &q0, const vpQuaternionVector &q1, double t);
 
private:
  static const double minimum;
  static const unsigned int constr_val_4;
 
};
END_VISP_NAMESPACE
#endif