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90 lines
1.2 KiB
90 lines
1.2 KiB
9 years ago
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/**
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* @file Matrix.hpp
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*
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* A quaternion class.
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*
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* @author James Goppert <james.goppert@gmail.com>
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*/
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#pragma once
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#include <Vector.hpp>
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#include <Dcm.hpp>
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#include <Euler.hpp>
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namespace matrix
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{
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template <typename Type>
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class Dcm;
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template <typename Type>
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class Euler;
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template<typename Type>
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class Quaternion : public Vector<Type, 4>
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{
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public:
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virtual ~Quaternion() {};
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Quaternion() : Vector<Type, 4>()
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{
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// TODO
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Quaternion &q = *this;
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q(0) = 1;
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q(1) = 0;
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q(2) = 0;
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q(3) = 0;
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}
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Quaternion(const Dcm<Type> & dcm) {
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// TODO
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Quaternion &q = *this;
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q(0) = 0;
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q(1) = 0;
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q(2) = 0;
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q(3) = 0;
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}
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Quaternion(const Euler<Type> & e) {
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// TODO
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Quaternion &q = *this;
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q(0) = 0;
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q(1) = 0;
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q(2) = 0;
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q(3) = 0;
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}
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Quaternion(Type a, Type b, Type c, Type d) : Vector<Type, 4>()
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{
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// TODO
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Quaternion &q = *this;
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q(0) = a;
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q(1) = b;
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q(2) = c;
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q(3) = d;
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}
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Quaternion operator*(const Quaternion &q) const
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{
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// TODO
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const Quaternion &p = *this;
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Quaternion r;
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r(0) = 0;
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r(1) = 0;
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r(2) = 0;
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r(3) = 0;
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return r;
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}
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Matrix<Type, 4, 1> derivative() const {
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// TODO
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Matrix<Type, 4, 1> d;
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return d;
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}
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};
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typedef Quaternion<float> Quatf;
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}; // namespace matrix
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