quaternion_print.h

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00001 /* -*- C++ -*- ------------------------------------------------------------
00002  
00003 Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
00004 
00005 The Configurable Math Library (CML) is distributed under the terms of the
00006 Boost Software License, v1.0 (see cml/LICENSE for details).
00007 
00008  *-----------------------------------------------------------------------*/
00013 #ifndef quaternion_print_h
00014 #define quaternion_print_h
00015 
00016 #include <iostream>
00017 
00018 namespace cml {
00019 
00020 /* NOTE: Made 'plain' quaternion output the default (Jesse) */
00021 
00022 /* #if !defined(CML_PLAIN_QUATERNION_OUTPUT) */
00023 #if defined(CML_COMPLEX_QUATERNION_OUTPUT)
00024 
00025 template<typename E, class AT, class CT> std::ostream&
00026 operator<<(std::ostream& os, const cml::quaternion<E,AT,scalar_first,CT>& q)
00027 {
00028     os << ((q[0] < 0)?" - ":"") << std::fabs(q[0]);
00029     os << ((q[1] < 0)?" - ":" + ") << std::fabs(q[1]) << "i";
00030     os << ((q[2] < 0)?" - ":" + ") << std::fabs(q[2]) << "j";
00031     os << ((q[3] < 0)?" - ":" + ") << std::fabs(q[3]) << "k";
00032     return os;
00033 }
00034 
00035 template<typename E, class AT, class CT> std::ostream&
00036 operator<<(std::ostream& os, const cml::quaternion<E,AT,vector_first,CT>& q)
00037 {
00038     os << ((q[0] < 0)?" - ":"") << std::fabs(q[0]) << "i";
00039     os << ((q[1] < 0)?" - ":" + ") << std::fabs(q[1]) << "j";
00040     os << ((q[2] < 0)?" - ":" + ") << std::fabs(q[2]) << "k";
00041     os << ((q[3] < 0)?" - ":" + ") << std::fabs(q[3]);
00042     return os;
00043 }
00044 
00045 #else
00046 
00048 template<typename E, class AT, class OT, typename CT> std::ostream&
00049 operator<<(std::ostream& os, const cml::quaternion<E,AT,OT,CT>& q)
00050 {
00051     os << "[";
00052     for (size_t i = 0; i < 4; ++i) {
00053         os << " " << q[i];
00054     }
00055     os << " ]";
00056     return os;
00057 }
00058 
00059 #endif
00060 
00062 template< class XprT > inline std::ostream&
00063 operator<<(std::ostream& os, const et::QuaternionXpr<XprT>& q)
00064 {
00065     typedef typename et::QuaternionXpr<XprT>::result_type quaternion_type;
00066 
00067     os << quaternion_type(q);
00068     /* XXX This temporary can be removed by templating the stream insertion
00069      * operators above.
00070      */
00071 
00072     return os;
00073 }
00074 
00075 } // namespace cml
00076 
00077 #endif
00078 
00079 // -------------------------------------------------------------------------
00080 // vim:ft=cpp