Quaternion.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// STD/STL
#include <map>
#include <string>
 
// Base class
#include "../detail/NDArrayVariant.h"
 
namespace armarx::aron::type
{
    /**
     * @brief The Qaternion class. It represents the quaternion type
     * A Quaternion has dimension 1x4 and a varying type
     */
    class Quaternion : public detail::NDArrayVariant<type::dto::Quaternion, Quaternion>
    {
    public:
        // constructors
        Quaternion(const Path& path = Path());
        Quaternion(const type::dto::Quaternion&, const Path& path);
 
        // public member functions
        type::quaternion::ElementType getElementType() const;
        void setElementType(type::quaternion::ElementType);
 
        type::dto::QuaternionPtr toQuaternionDTO() const;
 
        // virtual implementations
        virtual std::string getShortName() const override;
        virtual std::string getFullName() const override;
 
        static const std::map<quaternion::ElementType, std::string> Elementtype2String;
        static const std::map<std::string, quaternion::ElementType> String2Elementtype;
    };
} // namespace armarx::aron::type