a_quaternion.h

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//adapted from Andy Burbanks
//http://www.lboro.ac.uk/departments/ma/gallery/quat/src.html
 
#ifndef VE_QUATERNION_H
#define VE_QUATERNION_H
#include <iostream>
 
class a_quaternion;
 
a_quaternion operator-(a_quaternion& x);
a_quaternion operator+(const a_quaternion& x, const a_quaternion& y);
a_quaternion operator-(const a_quaternion& x, const a_quaternion& y);
a_quaternion operator*(const a_quaternion& x, const double y);
a_quaternion operator*(const a_quaternion& x, const a_quaternion& y);
a_quaternion operator/(const a_quaternion& x, const a_quaternion& y);
bool operator==(const a_quaternion& a, const a_quaternion& b);
bool operator!=(const a_quaternion& a, const a_quaternion& b);
 
class a_quaternion
{
public:
  a_quaternion() : r_(1.),i_(0.),j_(0.),k_(0.) {}                   // uninitialized
  a_quaternion(double r) : r_(r),i_(0.),j_(0.),k_(0.) {}
  a_quaternion(double r, double i, double j, double k): r_(r),i_(i),j_(j),k_(k) {};
  inline a_quaternion(const a_quaternion& b) {r_=b.r_;i_=b.i_;j_=b.j_;k_=b.k_;} // copy constructor
 
  double r() const { return r_ ;}
  double i() const { return i_ ;}
  double j() const { return j_ ;}
  double k() const { return k_ ;}
 
  void r(double r) {r_ = r;}
  void i(double i) {i_ = i;}
  void j(double j) {j_ = j;}
  void k(double k) {k_ = k;}
 
  double norm() const;
  double abs() const;
 
  a_quaternion& operator=(const a_quaternion& b) {r_ = b.r_; i_ = b.i_; j_ = b.j_; k_ = b.k_; return *this;}
 
  a_quaternion& negate();
  a_quaternion& conjugate();
  a_quaternion& square();
 
  a_quaternion& invert();
 
  a_quaternion& operator+=(const a_quaternion& b);
  a_quaternion operator+(const a_quaternion& b);
  a_quaternion& operator-=(const a_quaternion& b);
  a_quaternion operator-(const a_quaternion& b);
  a_quaternion& operator*=(const double b);
  a_quaternion operator*(const double b);
  a_quaternion& operator/=(const double b);
  a_quaternion operator/(const double b);
  a_quaternion& operator*=(const a_quaternion& b);
  a_quaternion operator*(const a_quaternion& b);
  a_quaternion& operator/=(const a_quaternion& b);
  a_quaternion operator/(const a_quaternion& b);
 
        friend std::ostream& operator<<(std::ostream& ost, const a_quaternion& x);
 
private:
  double r_;
  double i_;
  double j_;
  double k_;
};
 
#endif