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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(volatile double& yaw, volatile double& pitch, volatile double& roll);
protected:
double a,b,c,d; // quaternion coefficients
};
Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations
#endif //ROTATION_H
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