/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  $Id: vctQuaternion.h,v 1.27 2007/04/26 19:33:58 anton Exp $

  Author(s):	Anton Deguet
  Created on:	2003-10-07

  (C) Copyright 2003-2007 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


/*! 
  \file 
  \brief Declaration of vctQuaternion
 */


#ifndef _vctQuaternion_h
#define _vctQuaternion_h


#include <cisstVector/vctQuaternionBase.h>
#include <cisstVector/vctFixedSizeVector.h>


/*!
  \brief Define a quaternion container.

  \ingroup cisstVector

  This class is templated by the element type.  It is derived from
  vctQuaternionBase and uses a vctFixedSizeVector as underlying
  container.  It provides a more humain interface for programmers only
  interested in templating by _elementType.

  It is important to note that the class vctQuaternion is for
  any quaternion, i.e. it does not necessary represent a unit
  quaternion.

  \param _elementType The type of elements of the vector.

  \sa vctQuaternionBase vctFixedSizeVector
*/
template <class _elementType>
class vctQuaternion : public vctQuaternionBase<vctFixedSizeVector<_elementType, 4> >
{
public:
    /* no need to document, inherit doxygen documentation from base class */
    enum {SIZE = 4};
    VCT_CONTAINER_TRAITS_TYPEDEFS(_elementType);
    typedef vctQuaternion<value_type> ThisType;
    typedef vctFixedSizeVector<value_type, SIZE> ContainerType;
    typedef vctQuaternionBase<ContainerType> BaseType;
    typedef cmnTypeTraits<value_type> TypeTraits;
    
    /*! Default constructor.  Does nothing. */
    inline vctQuaternion():
        BaseType()
    {}

    /*! Constructor from 4 elements.

      \param x The first imaginary component
      \param y The second imaginary component
      \param z The third imaginary component
      \param r The real component
    */
    inline vctQuaternion(const value_type & x,
                         const value_type & y,
                         const value_type & z,
                         const value_type & r):
        BaseType(x, y, z, r)
    {}
};


#endif  // _vctQuaternion_h


// ****************************************************************************
//                              Change History
// ****************************************************************************
//
// $Log: vctQuaternion.h,v $
// Revision 1.27  2007/04/26 19:33:58  anton
// All files in libraries: Applied new license text, separate copyright and
// updated dates, added standard header where missing.
//
// Revision 1.26  2007/02/05 20:04:42  anton
// cisstVector: Re-added and cleaned up rotations classes as requested in #266
//
// Revision 1.25  2007/01/29 03:29:37  anton
// cisstVector: Update quaternion and quaternion based rotation to reflect new
// class structure (see ticket #263).
//
// Revision 1.24  2006/11/20 20:33:20  anton
// Licensing: Applied new license to cisstCommon, cisstVector, cisstNumerical,
// cisstInteractive, cisstImage and cisstOSAbstraction.
//
// Revision 1.23  2005/10/06 16:56:37  anton
// Doxygen: Corrected errors and some warnings detected by Doxygen 1.4.3.
//
// Revision 1.22  2005/09/26 15:41:47  anton
// cisst: Added modelines for emacs and vi.
//
// Revision 1.21  2005/09/01 06:18:08  anton
// cisstVector transformations: Added a level of abstraction for all classes
// derived from fixed size containers (vctQuaternion, vctQuaternionRotation3,
// vctMatrixRotation3, vctRodriguezRotation3).  These classes are now derived
// from vctXyzBase<_containerType>.  This will ease the SWIG wrapping.
//
// Revision 1.20  2005/06/16 03:38:29  anton
// Port to gcc 3.4 (common, vector and numerical) tested with gcc 3.3 and MS
// VC 7.1 (.Net 2003).
//
// Revision 1.19  2005/05/19 19:29:01  anton
// cisst libs: Added the license to cisstCommon and cisstVector
//
// Revision 1.18  2005/01/11 22:42:18  anton
// cisstVector:  Added normalization methods to the vectors.  Removed useless
// code from vctQuaternion and added some tests.  See ticket #110.
//
// Revision 1.17  2004/12/20 20:47:53  ofri
// vctQuaternion: I changed the name of the method Multiply to PostMultiply, and
// I added the method PreMultiply, because quaternion product is non-commutative.
// I added the methods QuotientOf, Divide(quaterion), and Divide(scalar).  Also
// Added the / operator for dividing quaternions.
//
// Revision 1.16  2004/10/25 13:52:05  anton
// Doxygen documentation:  Cleanup all the useless \ingroup.
//
// Revision 1.15  2004/10/21 18:39:49  anton
// vctQuaternion: Redefines R() and use only X(), Y() and Z() to access the
// data members of the quaternions (see ticket #74).
//
// Revision 1.14  2004/08/13 19:27:55  anton
// cisstVector:  For all the code related to rotations, added some assert to
// check that the input is valid (normalized quaternion, normalized axis,
// normalized matrix) for all the From method.  Added a
// vctQuaternionRotation.FromRaw(matrix) since this method is used to normalize
// the rotation matrices.  It's input doesn't have to be normalized.  As a side
// effect these additions, found a couple of IsNormalized methods which were
// not const.
//
// Revision 1.13  2004/08/13 17:47:40  anton
// cisstVector: Massive renaming to replace the word "sequence" by "vector"
// (see ticket #50) as well as another more systematic naming for the engines.
// The changes for the API are as follow:
// *: vctFixedLengthSequenceBase -> vctFixedSizeVectorBase (and Const)
// *: vctFixedLengthSequenceRef -> vctFixedSizeVectorRef (and Const)
// *: vctDynamicSequenceBase -> vctDynamicVectorBase (and Const)
// *: vctDynamicSequenceRef -> vctDynamicVectorRef (and Const)
// *: vctDynamicSequenceRefOwner -> vctDynamicVectorRefOwner
// *: vctFixedStrideSequenceIterator -> vctFixedStrideVectorIterator (and Const)
// *: vctVarStrideSequenceIterator -> vctVarStrideVectorIterator (and Const)
// *: vctSequenceRecursiveEngines -> vctFixedSizeVectorRecursiveEngines
// *: vctSequenceLoopEngines -> vctDynamicVectorLoopEngines
// *: vctMatrixLoopEngines -> vctFixedSizeMatrixLoopEngines
// *: vctDynamicMatrixEngines -> vctDynamicMatrixLoopEngines
// Also updated and corrected the documentation (latex, doxygen, figures) as
// well as the tests and examples.
//
// Revision 1.12  2004/07/02 16:16:45  anton
// Massive renaming in cisstVector for the addition of dynamic size vectors
// and matrices.  The dynamic vectors are far from ready.
//
// Revision 1.11  2004/04/02 15:29:50  anton
// Removed CISST_EXPORT, the class vctQuaternion is purely templated.
//
// Revision 1.10  2004/03/19 15:31:03  ofri
// Eliminated direct access of the Data container.  Use at() instead.
//
// Revision 1.9  2004/03/16 21:18:44  ofri
// Applying changes deriving from updating the interface of cmnTypeTraits
//
// Revision 1.8  2004/02/18 15:52:44  anton
// In method Multiply(ThisType), code used this instead of *this
//
// Revision 1.7  2004/02/16 19:41:41  anton
// For conjugate, negate the 3 imaginary components instead of the imaginary one
//
// Revision 1.6  2004/02/11 18:39:48  anton
// From(vecIm, scalReal) replaced by ConcatenationOf from vctFixedLengthSequenceBase
//
// Revision 1.5  2004/02/11 15:27:24  anton
// Methods Conjugated() and Normalized() are const
//
// Revision 1.4  2004/02/06 15:31:07  anton
// Used ThisType whenever possible, not vctquaternion<_elementType>
// Renamed methods MakeXxxx to XxxxSelf (Conjugate)
// Added NormalizedSelf, NormalizedOf, IsNormalized methods
//
// Revision 1.3  2004/01/16 22:53:45  anton
// Added constructor from a vector and a value
//
// Revision 1.2  2004/01/15 15:22:21  anton
// Minor documentation updates
//
// Revision 1.1  2004/01/12 18:54:21  anton
// Creation
//
//
// ****************************************************************************