vlQuaternion.h

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/*********************************************************************
** Copyright (c) 1992-2010 VT MAK
** All rights reserved.
*********************************************************************/


#ifndef vlQuaternion_H_
#define vlQuaternion_H_

#include <vlutil/vlMachineTypes.h>
#include <vlutil/vlString.h>
#include "vlDcm.h"
#include <iosfwd>


#ifdef DtUSE_UTILITIES_NAMESPACE
namespace DtUSE_UTILITIES_NAMESPACE
{
#endif

class DtTaitBryan;

class DT_DLL_MATRIX DtQuaternion
{
public:

   DtQuaternion();

   DtQuaternion(double w, double x, double y, double z);

   DtQuaternion(const DtQuaternion &other);

   DtQuaternion(const DtTaitBryan &tb);
   
   DtQuaternion &operator=(const DtQuaternion&other);


   DtString string() const;
   
   void printDataToStream(std::ostream &str) const;

   double w() const;
   void setW(double w);

   double x() const;
   void setX(double x);

   double y() const;
   void setY(double y);

   double z() const;
   void setZ(double z);

public:

   double DtQ0;  
   double DtQ1;  
   double DtQ2;  
   double DtQ3;  
};

DT_DLL_MATRIX std::ostream & operator << (std::ostream &str, const DtQuaternion &sr);

DT_DLL_MATRIX void DtQuatQuatMul(
   DtQuaternion *qresult, const DtQuaternion *DtQ1, const DtQuaternion *DtQ2);

DT_DLL_MATRIX void DtQuaternionDump(const DtQuaternion *q);

inline double DtQuaternion::w() const 
{ 
   return DtQ0;
}

inline void DtQuaternion::setW(double w) 
{ 
   DtQ0 = w;
}

inline double DtQuaternion::x() const 
{ 
   return DtQ1;
}

inline void DtQuaternion::setX(double x) 
{ 
   DtQ1 = x;
}

inline double DtQuaternion::y() const 
{ 
   return DtQ2;
}

inline void DtQuaternion::setY(double y) 
{ 
   DtQ2 = y;
}

inline double DtQuaternion::z() const 
{ 
   return DtQ3;
}

inline void DtQuaternion::setZ(double z) 
{ 
   DtQ3 = z;
}

#ifdef DtUSE_UTILITIES_NAMESPACE
}
#endif
#endif