Dogcows Code - chaz/yoink/blob - src/Moof/cml/quaternion/quaternion_print.h

   1 /* -*- C++ -*- ------------------------------------------------------------
   2
   3 Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
   4
   5 The Configurable Math Library (CML) is distributed under the terms of the
   6 Boost Software License, v1.0 (see cml/LICENSE for details).
   7
   8  *-----------------------------------------------------------------------*/
   9 /** @file
  10  *  @brief
  11  */
  12
  13 #ifndef quaternion_print_h
  14 #define quaternion_print_h
  15
  16 #include <iostream>
  17
  18 namespace cml {
  19
  20 /* NOTE: Made 'plain' quaternion output the default (Jesse) */
  21
  22 /* #if !defined(CML_PLAIN_QUATERNION_OUTPUT) */
  23 #if defined(CML_COMPLEX_QUATERNION_OUTPUT)
  24
  25 template<typename E, class AT, class CT> std::ostream&
  26 operator<<(std::ostream& os, const cml::quaternion<E,AT,scalar_first,CT>& q)
  27 {
  28     os << ((q[0] < 0)?" - ":"") << std::fabs(q[0]);
  29     os << ((q[1] < 0)?" - ":" + ") << std::fabs(q[1]) << "i";
  30     os << ((q[2] < 0)?" - ":" + ") << std::fabs(q[2]) << "j";
  31     os << ((q[3] < 0)?" - ":" + ") << std::fabs(q[3]) << "k";
  32     return os;
  33 }
  34
  35 template<typename E, class AT, class CT> std::ostream&
  36 operator<<(std::ostream& os, const cml::quaternion<E,AT,vector_first,CT>& q)
  37 {
  38     os << ((q[0] < 0)?" - ":"") << std::fabs(q[0]) << "i";
  39     os << ((q[1] < 0)?" - ":" + ") << std::fabs(q[1]) << "j";
  40     os << ((q[2] < 0)?" - ":" + ") << std::fabs(q[2]) << "k";
  41     os << ((q[3] < 0)?" - ":" + ") << std::fabs(q[3]);
  42     return os;
  43 }
  44
  45 #else
  46
  47 /** Output a quaternion to a std::ostream. */
  48 template<typename E, class AT, class OT, typename CT> std::ostream&
  49 operator<<(std::ostream& os, const cml::quaternion<E,AT,OT,CT>& q)
  50 {
  51     typedef typename cml::quaternion<E,AT,OT,CT>::order_type order_type;
  52     enum {
  53         W = order_type::W,
  54         X = order_type::X,
  55         Y = order_type::Y,
  56         Z = order_type::Z
  57     };
  58
  59     os << "[ "
  60       << " " << q[W]
  61       << " " << q[X]
  62       << " " << q[Y]
  63       << " " << q[Z]
  64       << " ]";
  65
  66     return os;
  67 }
  68
  69 #endif
  70
  71 /** Output a quaternion expression to a std::ostream. */
  72 template< class XprT > inline std::ostream&
  73 operator<<(std::ostream& os, const et::QuaternionXpr<XprT>& q)
  74 {
  75     typedef typename et::QuaternionXpr<XprT>::result_type quaternion_type;
  76
  77     os << quaternion_type(q);
  78     /* XXX This temporary can be removed by templating the stream insertion
  79      * operators above.
  80      */
  81
  82     return os;
  83 }
  84
  85 } // namespace cml
  86
  87 #endif
  88
  89 // -------------------------------------------------------------------------
  90 // vim:ft=cpp