Quaternion.h

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/*
Quaternion header file
 
Author: Alex Reynolds
*/
#ifndef SIX_DOF_DYNAMICS_QUATERNION_HPP
#define SIX_DOF_DYNAMICS_QUATERNION_HPP
 
#include <cmath>
 
#include "core/Matrix.hpp"
#include "core/CartesianVector.hpp"
#include "core/safemath.h"
#include "core/matrixmath.hpp"
 
#include "DCM.h"
 
namespace clockwerk {
    const uint8 QUATERNION_NUM_ELEMENTS = 4;

    class MRP;

    class Quaternion : public CartesianVector<QUATERNION_NUM_ELEMENTS> {
    public:
        Quaternion();

        Quaternion(const floating_point(&initial)[QUATERNION_NUM_ELEMENTS]);

        Quaternion(const Quaternion &initial);

        Quaternion(const std::array<floating_point, QUATERNION_NUM_ELEMENTS> &initial);

        ~Quaternion() {}

        Quaternion& operator=(const Quaternion& other);

        Quaternion operator*(const Quaternion& other) const;

        CartesianVector<3> operator*(const CartesianVector<3>& vec__f2) const;

        void rate(const CartesianVector<3> &omega_f1_f2__f1, Matrix<QUATERNION_NUM_ELEMENTS, 1> &quatdot_f1_f2) const;
        void rate(const Matrix<3, 1>       &omega_f1_f2__f1, Matrix<QUATERNION_NUM_ELEMENTS, 1> &quatdot_f1_f2) const;

        void toDCM(DCM &dcm_f1_f2) const;
        DCM toDCM() const;

        void toMRP(MRP &mrp_f1_f2) const;
        MRP toMRP() const;

        int16 rotationAngle(floating_point &val) const;
        floating_point rotationAngle() const;

        void inverse(Quaternion &quat_f2_f1) const;
        Quaternion inverse() const;

        void dRate_dOmega(Matrix<QUATERNION_NUM_ELEMENTS, 3> &jacobian) const;
        Matrix<QUATERNION_NUM_ELEMENTS, 3> dRate_dOmega() const;

        void dRate_dQuat(const CartesianVector<3> &omega_f1_f2__f1, Matrix<QUATERNION_NUM_ELEMENTS, QUATERNION_NUM_ELEMENTS> &jacobian) const;
        Matrix<QUATERNION_NUM_ELEMENTS, QUATERNION_NUM_ELEMENTS> dRate_dQuat(const CartesianVector<3> &omega_f1_f2__f1) const;

        void dRotatedVec_dQuat(const CartesianVector<3> &vec__f2, Matrix<3, QUATERNION_NUM_ELEMENTS> &jacobian) const;
        Matrix<3, QUATERNION_NUM_ELEMENTS> dRotatedVec_dQuat(const CartesianVector<3> &vec__f2) const;

        void dInvRotatedVec_dQuat(const CartesianVector<3> &vec__f1, Matrix<3, QUATERNION_NUM_ELEMENTS> &jacobian) const;
        Matrix<3, QUATERNION_NUM_ELEMENTS> dInvRotatedVec_dQuat(const CartesianVector<3> &vec__f1) const;
    };
 
}
 
#endif