Quaternion.hpp

/*
 * Quaternion.hpp
 * 
 * Copyright 2018 Fernando Pujaico Rivera <fernando.pujaico.rivera@gmail.com>
 * 
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 * MA 02110-1301, USA.
 * 
 */
 
#ifndef __PDS_QUATERNION_HPP__
#define __PDS_QUATERNION_HPP__
 
#include <string>
 
namespace Pds{
 
 
class Quaternion
{
 
public:
    // Parte real de un quaternio
    double W;
    // Parte imaginaria i de un quaternio
    double X;
    // Parte imaginaria j de un quaternio
    double Y;
    // Parte imaginaria k de un quaternio
    double Z;
 
public:
 
    Quaternion(void);
    
    Quaternion(double w,double x,double y,double z);
    
    Quaternion(double w);
 
    Quaternion(const Pds::Quaternion &B);
 
    
    ~Quaternion(); 
    
public:
    void Rect(double w,double x,double y,double z);
 
    void Polar(double A,double Alpha,double Beta,double Theta);
    
public:
 
    Pds::Quaternion operator + (void) const;
 
    Pds::Quaternion Plus (void) const;
 
    Pds::Quaternion operator - (void) const;
 
    Pds::Quaternion Minus (void) const;
public:
    Pds::Quaternion operator + (const Pds::Quaternion &B) const;
    
    Pds::Quaternion operator + (double b) const;
 
    Pds::Quaternion Add(const Pds::Quaternion &B) const;
 
    Pds::Quaternion Add(double b) const;
 
    Pds::Quaternion operator - (const Pds::Quaternion &B) const;
    
    Pds::Quaternion Sub(const Pds::Quaternion &B) const;
    
    Pds::Quaternion operator - (double b) const;
    
    Pds::Quaternion Sub(double b) const;
 
    Pds::Quaternion operator * (const Pds::Quaternion &B) const;
 
    Pds::Quaternion Mul(const Pds::Quaternion &B) const;
 
    Pds::Quaternion operator * (double b) const;
    
    Pds::Quaternion Mul(double b) const;
 
    Pds::Quaternion operator / (const Pds::Quaternion &B) const;
 
    Pds::Quaternion Div(const Pds::Quaternion &B) const;
 
    Pds::Quaternion operator / (double b) const;
 
    Pds::Quaternion Div(double b) const;
 
 
    Pds::Quaternion Pow(double b) const;
public:
    Pds::Quaternion Conj(void) const;
 
    Pds::Quaternion Unit(void) const;
    
    double Module(void) const;
 
 
public:
    void Print(std::string str="") const;
 
    void PrintStylized(std::string str="") const;
}; // Class Quaternion
 
} // namespace Pds
 
 
Pds::Quaternion operator + (double a, const Pds::Quaternion &B);
 
 
Pds::Quaternion operator - (double a, const Pds::Quaternion &B);
 
Pds::Quaternion operator * (double a, const Pds::Quaternion &B);
 
Pds::Quaternion operator / (double a, const Pds::Quaternion &B);
 
#endif