+++ /dev/null
-/* -*- C++ -*- ------------------------------------------------------------
-
-Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
-
-The Configurable Math Library (CML) is distributed under the terms of the
-Boost Software License, v1.0 (see cml/LICENSE for details).
-
- *-----------------------------------------------------------------------*/
-/** @file
- * @brief Defines an operator for quaternion conjugation.
- */
-
-#ifndef conjugate_h
-#define conjugate_h
-
-#include <cml/quaternion/quaternion_expr.h>
-
-namespace cml {
-namespace et {
-
-/** An expression node for conjugating a quaternion. */
-template<class ExprT>
-class ConjugateOp
-{
- public:
-
- typedef ConjugateOp<ExprT> expr_type;
-
- /* Record ary-ness of the expression: */
- typedef unary_expression expr_ary;
-
- /* Copy the expression by value into higher-up expressions: */
- typedef expr_type expr_const_reference;
-
- typedef typename ExprT::value_type value_type;
- typedef quaternion_result_tag result_tag;
- typedef typename ExprT::size_tag size_tag;
-
- /* Store the expression traits for the subexpression: */
- typedef ExprTraits<ExprT> expr_traits;
-
- /* Reference type for the subexpression: */
- typedef typename expr_traits::const_reference expr_reference;
-
- /* Get the result type (same as for subexpression): */
- typedef typename expr_traits::result_type result_type;
-
- /* For matching by assignability: */
- typedef cml::et::not_assignable_tag assignable_tag;
-
- /* Get the temporary type: */
- typedef typename result_type::temporary_type temporary_type;
-
- /* Get the vector type: */
- typedef typename result_type::vector_type vector_type;
-
- /* Get the imaginary part type: */
- typedef typename vector_type::subvector_type imaginary_type;
-
- /* Record the order type: */
- typedef typename result_type::order_type order_type;
-
-
- public:
-
- /** Record result size as an enum. */
- enum { array_size = ExprT::array_size };
-
- /** Localize the ordering as an enum. */
- enum {
- W = order_type::W,
- X = order_type::X,
- Y = order_type::Y,
- Z = order_type::Z
- };
-
-
- public:
-
- /** Return the real part of the expression. */
- value_type real() const {
- return m_expr.real();
- }
-
- /** Return the vector part of the expression. */
- imaginary_type imaginary() const {
- return -m_expr.imaginary();
- }
-
- /** Return the Cayley norm of the expression. */
- value_type norm() const {
- return length_squared();
- }
-
- /** Return square of the quaternion length. */
- value_type length_squared() const {
- return dot(
- QuaternionXpr<expr_type>(*this),
- QuaternionXpr<expr_type>(*this));
- }
-
- /** Return the quaternion length. */
- value_type length() const {
- return std::sqrt(length_squared());
- }
-
- /** Return the result as a normalized quaternion. */
- temporary_type normalize() const {
- temporary_type q(QuaternionXpr<expr_type>(*this));
- return q.normalize();
- }
-
- /** Compute conjugated result at index i.
- *
- * The conjugate of quaternion s + v is s - v.
- */
- value_type operator[](size_t i) const {
- return (i == W) ? m_expr[W] : - m_expr[i] ;
- }
-
-
- public:
-
- /** Return size of this expression (same as argument's size). */
- size_t size() const {
- return m_expr.size();
- }
-
- /** Return reference to contained expression. */
- expr_reference expression() const { return m_expr; }
-
-
- public:
-
- /** Construct from the subexpression. */
- explicit ConjugateOp(expr_reference expr) : m_expr(expr) {}
-
- /** Copy constructor. */
- ConjugateOp(const expr_type& e) : m_expr(e.m_expr) {}
-
-
- protected:
-
- expr_reference m_expr;
-
-
- private:
-
- /* Cannot be assigned to: */
- expr_type& operator=(const expr_type&);
-};
-
-/** Expression traits class for ConjugateOp<>. */
-template<class ExprT>
-struct ExprTraits< ConjugateOp<ExprT> >
-{
- typedef ConjugateOp<ExprT> expr_type;
- typedef ExprT arg_type;
-
- typedef typename expr_type::value_type value_type;
- typedef typename expr_type::expr_const_reference const_reference;
- typedef typename expr_type::result_tag result_tag;
- typedef typename expr_type::size_tag size_tag;
- typedef typename expr_type::result_type result_type;
- typedef typename expr_type::assignable_tag assignable_tag;
- typedef expr_node_tag node_tag;
-
- value_type get(const expr_type& v, size_t i) const { return v[i]; }
- size_t size(const expr_type& e) const { return e.size(); }
-};
-
-} // namespace et
-
-/** Conjugation of a quaternion. */
-template<typename E, class AT, class OT, class CT> inline
-et::QuaternionXpr< et::ConjugateOp< quaternion<E,AT,OT,CT> > >
-conjugate(const quaternion<E,AT,OT,CT>& arg)
-{
- typedef et::ConjugateOp< quaternion<E,AT,OT,CT> > ExprT;
- return et::QuaternionXpr<ExprT>(ExprT(arg));
-}
-
-/** Conjugation of a QuaternionXpr. */
-template<class XprT> inline
-et::QuaternionXpr< et::ConjugateOp<XprT> >
-conjugate(QUATXPR_ARG_TYPE arg)
-{
- typedef et::ConjugateOp<XprT> ExprT;
- return et::QuaternionXpr<ExprT>(ExprT(arg.expression()));
-}
-
-} // namespace cml
-
-#endif
-
-// -------------------------------------------------------------------------
-// vim:ft=cpp