4 * Copyright (c) 2014 Samsung Electronics Co., Ltd.
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
20 #ifndef _QUATERNION_H_
21 #define _QUATERNION_H_
26 #define REF_VEC_SIZE 3
28 template <typename TYPE>
31 vect<TYPE, QUAT_SIZE> m_quat;
34 quaternion(const TYPE w, const TYPE x, const TYPE y, const TYPE z);
35 quaternion(const vect<TYPE, QUAT_SIZE> v);
36 quaternion(const quaternion<TYPE>& q);
39 quaternion<TYPE> operator =(const quaternion<TYPE>& q);
40 void quat_normalize();
42 template<typename T> friend quaternion<T> operator *(const quaternion<T> q,
44 template<typename T> friend quaternion<T> operator *(const quaternion<T> q1,
45 const quaternion<T> q2);
46 template<typename T> friend quaternion<T> operator +(const quaternion<T> q1,
47 const quaternion<T> q2);
48 template<typename T> friend quaternion<T> phase_correction(const quaternion<T> q1,
49 const quaternion<T> q2);
50 template<typename T> friend quaternion<T> axis2quat(const vect<T, REF_VEC_SIZE> axis,
54 #include "quaternion.cpp"
56 #endif //_QUATERNION_H_