alrotation3d.h

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/*
 * 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);

      inline Rotation3D operator+ (const Rotation3D& pRot2) const
      {
        return Rotation3D(
              wx + pRot2.wx,
              wy + pRot2.wy,
              wz + pRot2.wz);
      }

      inline Rotation3D operator- (const Rotation3D& pRot2) const
      {
        return Rotation3D(
              wx - pRot2.wx,
              wy - pRot2.wy,
              wz - pRot2.wz);
      }

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

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

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

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

      inline Rotation3D operator* (const float pVal) const
      {
        return Rotation3D(wx*pVal, wy*pVal, wz*pVal);
      }

      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;

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

    float norm(const Rotation3D& pRot);

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