mitkQuaternion.h

/*=========================================================================

  Program:   3DMed
  Date:      $Date: 2014-02-25 18:30:00 +0800 $
  Version:   $Version: 4.6.0 $
  Copyright: MIPG, Institute of Automation, Chinese Academy of Sciences

=========================================================================*/


#ifndef __mitkQuaternion_h
#define __mitkQuaternion_h

#include "mitkMatrix.h"

class MITK_COMMON_API mitkQuaternion
{
public:

    mitkQuaternion();

    mitkQuaternion(const float x, const float y, const float z, const float w);

    mitkQuaternion(const float x, const float y, const float z);

    mitkQuaternion& operator=(const mitkQuaternion &q)  
    {
        x = q.x;
        y = q.y;
        z = q.z;
        w = q.w;
        return(*this);  
    }

    mitkQuaternion(const mitkQuaternion &q)                    
    {
        x = q.x;
        y = q.y;
        z = q.z;
        w = q.w;
    }
    
    void Identity(void);

    void Normalize(void);

    void GetValues(float &x, float &y, float &z, float &w) const;

    void AxisRadToQuat(const float ax, const float ay, const float az, const float angle);

    void AxisDegToQuat(const float ax, const float ay, const float az, const float angle);


    void GetAxisRad(float &ax, float &ay, float &az, float &angle) const;

    void GetAxisDeg(float &ax, float &ay, float &az, float &angle) const;

    void EulerRadToQuat(const float xr, const float yr, const float zr);

    void EulerDegToQuat(const float xd, const float yd, const float zd);

    void GetEulerRad(float &xr, float &yr, float &zr) const;

    void GetEulerDeg(float &xd, float &yd, float &zd) const;

    void BuildMatrix(mitkMatrix &mat) const;    // get the 4x4 rotation matrix representation of this quaternion

    friend mitkQuaternion operator * (const mitkQuaternion &p, const mitkQuaternion &q); // multiplication

private:
    // get the norm N^2
    inline double _norm(void); 

    // quaternion representation (w, xi, yj, zk)
    float   x,y,z,w;            



};

inline mitkQuaternion operator * (const mitkQuaternion &p, const mitkQuaternion &q)
{
    mitkQuaternion res;

    res.w   = p.w*q.w - p.x*q.x - p.y*q.y - p.z*q.z;

    res.x   = p.w*q.x + p.x*q.w + p.y*q.z - p.z*q.y;
    res.y   = p.w*q.y + p.y*q.w + p.z*q.x - p.x*q.z;
    res.z   = p.w*q.z + p.z*q.w + p.x*q.y - p.y*q.x;

    return res;
}


#endif

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