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Lib/Include/CML/quaternion/quaternion_print.h

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+/* -*- 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
+ */
+
+#ifndef quaternion_print_h
+#define quaternion_print_h
+
+#include <iostream>
+
+namespace cml {
+
+/* NOTE: Made 'plain' quaternion output the default (Jesse) */
+
+/* #if !defined(CML_PLAIN_QUATERNION_OUTPUT) */
+#if defined(CML_COMPLEX_QUATERNION_OUTPUT)
+
+template<typename E, class AT, class CT> std::ostream&
+operator<<(std::ostream& os, const cml::quaternion<E,AT,scalar_first,CT>& q)
+{
+    os << ((q[0] < 0)?" - ":"") << std::fabs(q[0]);
+    os << ((q[1] < 0)?" - ":" + ") << std::fabs(q[1]) << "i";
+    os << ((q[2] < 0)?" - ":" + ") << std::fabs(q[2]) << "j";
+    os << ((q[3] < 0)?" - ":" + ") << std::fabs(q[3]) << "k";
+    return os;
+}
+
+template<typename E, class AT, class CT> std::ostream&
+operator<<(std::ostream& os, const cml::quaternion<E,AT,vector_first,CT>& q)
+{
+    os << ((q[0] < 0)?" - ":"") << std::fabs(q[0]) << "i";
+    os << ((q[1] < 0)?" - ":" + ") << std::fabs(q[1]) << "j";
+    os << ((q[2] < 0)?" - ":" + ") << std::fabs(q[2]) << "k";
+    os << ((q[3] < 0)?" - ":" + ") << std::fabs(q[3]);
+    return os;
+}
+
+#else
+
+/** Output a quaternion to a std::ostream. */
+template<typename E, class AT, class OT, typename CT> std::ostream&
+operator<<(std::ostream& os, const cml::quaternion<E,AT,OT,CT>& q)
+{
+    typedef typename cml::quaternion<E,AT,OT,CT>::order_type order_type;
+    enum {
+        W = order_type::W,
+        X = order_type::X,
+        Y = order_type::Y,
+        Z = order_type::Z
+    };
+
+    os << "[ "
+      << " " << q[W]
+      << " " << q[X]
+      << " " << q[Y]
+      << " " << q[Z]
+      << " ]";
+
+    return os;
+}
+
+#endif
+
+/** Output a quaternion expression to a std::ostream. */
+template< class XprT > inline std::ostream&
+operator<<(std::ostream& os, const et::QuaternionXpr<XprT>& q)
+{
+    typedef typename et::QuaternionXpr<XprT>::result_type quaternion_type;
+
+    os << quaternion_type(q);
+    /* XXX This temporary can be removed by templating the stream insertion
+     * operators above.
+     */
+
+    return os;
+}
+
+} // namespace cml
+
+#endif
+
+// -------------------------------------------------------------------------
+// vim:ft=cpp