/* ************************************************************************* */
Vector Rot3::quaternion() const {
gtsam::Quaternion q = toQuaternion();
Vector v(4);
v(0) = q.w();
v(1) = q.x();
v(2) = q.y();
v(3) = q.z();
return v;
}
/**
* @brief convert
* @param src
* @return
*/
void convertRepresentationTo(OrientationType repType)
{
if(repType == Euler) { toEulers(); }
else if(repType == OrientationMatrix) { toOrientationMatrix(); }
else if(repType == Quaternion) { toQuaternion(); }
else if(repType == AxisAngle) { toAxisAngle(); }
else if(repType == Rodrigues) { toRodrigues(); }
else if(repType == Homochoric) { toHomochoric(); }
else if(repType == Cubochoric) { toCubochoric(); }
}
/// Apply the euler rotation to the vector rhs.
inline Vector3 operator*(const Vector3 &rhs) const {
return toQuaternion() * rhs;
}
/// Casting operator. This allows any ogre function that wants a Quaternion to accept a Euler instead.
inline operator Quaternion() const {
return toQuaternion();
}
/// Get a vector pointing up.
inline Vector3 up() const {
return toQuaternion() * Vector3::UNIT_Y;
}
/// Get a vector pointing to the right.
inline Vector3 right() const {
return toQuaternion() * Vector3::UNIT_X;
}
/// Get a vector pointing forwards.
inline Vector3 forward() const {
return toQuaternion() * Vector3::NEGATIVE_UNIT_Z;
}
inline void lookAt(const Vector3f& dest, const Vector3f& up = {0, 1, 0}) {
transform.rotation = toQuaternion(m_lookAt(transform.position, dest, up));
}
