UsefulQuaternions.h

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// Copyright 2016 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//        http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef INCLUDED_UsefulQuaternions_h_GUID_BC5D8169_7ACB_46AA_A5E0_77C77FE44498
#define INCLUDED_UsefulQuaternions_h_GUID_BC5D8169_7ACB_46AA_A5E0_77C77FE44498

// Internal Includes
// - none

// Library/third-party includes
#include <osvr/Util/EigenCoreGeometry.h>

// Standard includes
// - none

namespace osvr {
namespace vbtracker {
    inline Eigen::Quaterniond get180aboutX() {
        // all zero except x = 1 produces 180 about x
        return Eigen::Quaterniond(0, 1, 0, 0);
    }
    inline Eigen::Quaterniond get180aboutY() {
        // all zero except y = 1 produces 180 about y
        return Eigen::Quaterniond(0, 0, 1, 0);
    }
    inline Eigen::Quaterniond get180aboutZ() {
        // all zero except z = 1 produces 180 about z
        return Eigen::Quaterniond(0, 0, 0, 1);
    }
} // namespace vbtracker
} // namespace osvr

#endif // INCLUDED_UsefulQuaternions_h_GUID_BC5D8169_7ACB_46AA_A5E0_77C77FE44498