Quaternion.h

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/*
SyneRBI Synergistic Image Reconstruction Framework (SIRF)
Copyright 2017 - 2019 University College London
 
This is software developed for the Collaborative Computational
Project in Synergistic Reconstruction for Biomedical Imaging (formerly CCP PETMR)
(http://www.ccpsynerbi.ac.uk/).
 
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
 
*/
 
#pragma once
 
#include <array>
#include <vector>
 
namespace sirf {
 
// Forward declarations
template<class dataType> class AffineTransformation;
 
template<class dataType>
class Quaternion
{
public: 
 
    Quaternion(const dataType in_w, const dataType in_x, const dataType in_y, const dataType in_z) :
        w(in_w), x(in_x), y(in_y), z(in_z)
    {}
 
    Quaternion(const AffineTransformation<dataType> tm);
 
    bool operator==(const Quaternion &other) const;
 
    bool operator!=(const Quaternion &other) const;
 
    static Quaternion get_average(const std::vector<Quaternion> &quaternions);
 
    dataType dot(const Quaternion &other) const;
 
    Quaternion inverse_sign_quaternion() const;
 
    Quaternion normalise() const;
 
    void print() const;
 
    std::array<dataType,4> get_data() const;
 
    void set_data(const std::array<dataType,4> &data);
 
    std::array<dataType,3> get_Euler_angles() const;
 
private:
 
    dataType w, x, y, z;
 
    bool is_quaternion_close(const Quaternion &other) const;
};
}