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diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
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+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#ifndef ROTATION_H
+#define ROTATION_H
+
+// ----------------------------------------------------------------------------
+class Rotation {
+	friend Rotation operator*(const Rotation& A, const Rotation& B);
+public:
+	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
+	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
+	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
+
+	Rotation inv();	// inverse
+
+	// conversions
+	void fromEuler(double yaw, double pitch, double roll);
+	void toEuler(double& yaw, double& pitch, double& roll);
+	
+protected:
+	double a,b,c,d; // quaternion coefficients
+};
+
+Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations
+
+#endif //ROTATION_H