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vnproglib/cpp/include/vn/attitude.h

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+#ifndef _VNMATH_ATTITUDE_H_
+#define _VNMATH_ATTITUDE_H_
+
+#include "vector.h"
+#include "matrix.h"
+#include "export.h"
+
+namespace vn {
+namespace math {
+
+/// \brief Representation of an orientation/attitude.
+class vn_proglib_DLLEXPORT AttitudeF
+{
+private:
+
+	enum AttitudeType
+	{
+		ATT_YprRads,
+		ATT_YprDegs,
+		ATT_Quat,
+		ATT_Dcm
+	};
+
+public:
+
+	/// \brief Returns an <c>AttitudeF</c> representing no rotation.
+	static AttitudeF noRotation();
+
+	/// \brief Creates a new <c>AttitudeF</c> from a quaternion.
+	///
+	/// \param[in] quat The orientation expressed as a quaternion.
+	/// \return The new <c>AttitudeF</c>.
+	static AttitudeF fromQuat(vec4f quat);
+
+	/// \brief Creates a new <c>AttitudeF</c> from a yaw, pitch, roll in degrees.
+	///
+	/// \param[in] yprInDegs The yaw, pitch, roll in degrees.
+	/// \return The new <c>AttitudeF</c>.
+	static AttitudeF fromYprInDegs(vec3f yprInDegs);
+
+	/// \brief Creates a new <c>AttitudeF</c> from a yaw, pitch, roll in radians.
+	///
+	/// \param[in] yprInRads The yaw, pitch, roll in radians.
+	/// \return The new <c>AttitudeF</c>.
+	static AttitudeF fromYprInRads(vec3f yprInRads);
+
+	/// \brief Creates a new <c>AttitudeF</c> from a direction cosine matrix.
+	///
+	/// \param[in] dcm The direction cosine matrix.
+	/// \return The new <c>AttitudeF</c>.
+	static AttitudeF fromDcm(mat3f dcm);
+
+	// TEMP
+	AttitudeF() { }
+
+private:
+
+	AttitudeF(AttitudeType type, void* attitude);
+
+public:
+
+	/// \brief Returns the orientation as represented in yaw, pitch, roll in degrees.
+	/// \return The orientation in yaw, pitch, roll in degrees.
+	vec3f yprInDegs();
+
+	/// \brief Returns the orientation as represented in yaw, pitch, roll in radians.
+	/// \return The orientation in yaw, pitch, roll in radians.
+	vec3f yprInRads();
+
+	/// \brief Returns the orientation as represented in quaternion.
+	/// \return The orientation in quaternion.
+	vec4f quat();
+
+	/// \brief Returns the orientation as represented by a direction cosine matrix.
+	/// \return The orientation as a direction cosine matrix.
+	mat3f dcm();
+
+private:
+	AttitudeType _underlyingType;
+	uint8_t _data[sizeof(mat3f)];
+};
+
+}
+}
+
+#endif