rotation.h

#ifndef ROTATION_H_LOADED
#define ROTATION_H_LOADED 1

// An object to determine some properties of a planned rotation, such
// as whether and when it will intersect with a plane

#include "quaternion.h"

class Rotation {
private:
    Quaternion A;  
    Quaternion u;  
    mutable Quaternion Au;      
    mutable Quaternion uxA;     

public:
    const Quaternion& start(void) const { return A; };
    const Quaternion& axis(void) const { return u; };

    Rotation(const Quaternion start, const Quaternion axis);

    double intersection(const Quaternion& normal, const Quaternion& pole) const;

    double intersection(const Quaternion& normal, const float h) const;
};


#endif /* ROTATION_H_LOADED */