Quaternion.h

#ifndef Quaternion_h
#define Quaternion_h

 
/* SPDX-License-Identifier: CC0-1.0 */
 
#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