Quaternion.h

//-*- C++ -*-
//-*- coding: utf-8 -*-
//
// Author: Bryan V. Riel
// Copyright 2018
//

#pragma once
#define EIGEN_MPL2_ONLY
#include <Eigen/Geometry>

#include "forward.h"

#include "Attitude.h"

class isce3::core::Quaternion : public isce3::core::Attitude {

    public:
        Quaternion();

        Quaternion(const std::vector<double> & time, const std::vector<double> & quaternions);

        void data(const std::vector<double> & time,
                  const std::vector<double> & quaternions);

        void ypr(double tintp, double & yaw, double & pitch, double & roll);

        cartmat_t rotmat(double tintp, const std::string, double dq0 = 0.0, double dq1 = 0.0,
                         double dq2 = 0.0, double dq3 = 0.0);

        cartesian_t factoredYPR(double time,
                                const cartesian_t &,
                                const cartesian_t &,
                                Ellipsoid *);

        inline const std::vector<double> & time() const { return _time; }

        inline const std::vector<double> & qvec() const { return _qvec; };

        inline size_t nVectors() const { return _time.size(); }

    // Private data members
    private:
        std::vector<double> _time;
        std::vector<double> _qvec;
        Eigen::Quaternion<double> _interp(double t) const;
};