Quaternion.h

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#ifndef Quaternion_h
#define Quaternion_h

#include <string>
#include <vector>

#include <SpiceUsr.h>
#include <SpiceZfc.h>
#include <SpiceZmc.h>

namespace Isis {
  class Quaternion {
    public:
      // constructors
      Quaternion();
      Quaternion(const std::vector<double> matrix);

      // destructor
      ~Quaternion();

      //Methods

      std::vector<double> ToMatrix();

      std::vector<double> ToAngles(int axis3, int axis2, int axis1);

      void Set(std::vector<double>);

      std::vector<double> GetQuaternion() const {
        return p_quaternion;
      }
      ;
      Quaternion &operator=(const Quaternion &quat);

      Quaternion &operator*=(const Quaternion &quat);

      Quaternion operator*(const Quaternion &quat) const;

      Quaternion operator*(const double &scalar);

      double &operator[](int index) {
        return p_quaternion.at(index);
      };



      std::vector<double> Qxv(const std::vector<double> &vin);

      Quaternion Conjugate();




    private:
      std::vector<double> p_quaternion;     
      void Polish(Quaternion &quat);
  };
};

#endif