almath/types/alrotation3d.h

/*
 * Copyright (c) 2012 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */


#pragma once
#ifndef _LIBALMATH_ALMATH_TYPES_ALROTATION3D_H_
#define _LIBALMATH_ALMATH_TYPES_ALROTATION3D_H_

#include <vector>

namespace AL {
  namespace Math {

    struct Rotation3D {
      float wx;
      float wy;
      float wz;



      Rotation3D();



      explicit Rotation3D(float pInit);






      Rotation3D(
        float pWx,
        float pWy,
        float pWz);







      Rotation3D (const std::vector<float>& pFloats);

      Rotation3D operator+ (const Rotation3D& pRot2) const;

      Rotation3D operator- (const Rotation3D& pRot2) const;

      Rotation3D& operator+= (const Rotation3D& pRot2);

      Rotation3D& operator-= (const Rotation3D& pRot2);

      bool operator== (const Rotation3D& pRot2) const;

      bool operator!= (const Rotation3D& pRot2) const;

      Rotation3D operator* (const float pVal) const;

      Rotation3D operator/ (const float pVal) const;

      Rotation3D& operator*= (const float pVal);

      Rotation3D& operator/= (const float pVal);

      bool isNear(
        const Rotation3D& pRot2,
        const float&      pEpsilon=0.0001f) const;

      float norm() const;

      std::vector<float> toVector() const;
    };

    float norm(const Rotation3D& pRot);

  } // end namespace Math
} // end namespace AL
#endif  // _LIBALMATH_ALMATH_TYPES_ALROTATION3D_H_