Subject: [Boost-commit] svn:boost r84868 - in trunk/boost/geometry/extensions/algebra: core geometries geometries/concepts
From: adam.wulkiewicz_at_[hidden]
Date: 2013-06-21 15:30:39
Author: awulkiew
Date: 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013)
New Revision: 84868
URL: http://svn.boost.org/trac/boost/changeset/84868
Log:
[geometry][extensions]: added Matrix and Quaternion concepts.
Added:
trunk/boost/geometry/extensions/algebra/geometries/concepts/matrix_concept.hpp (contents, props changed)
trunk/boost/geometry/extensions/algebra/geometries/concepts/quaternion_concept.hpp (contents, props changed)
trunk/boost/geometry/extensions/algebra/geometries/matrix.hpp (contents, props changed)
trunk/boost/geometry/extensions/algebra/geometries/quaternion.hpp (contents, props changed)
Text files modified:
trunk/boost/geometry/extensions/algebra/core/access.hpp | 37 ++++++++++
trunk/boost/geometry/extensions/algebra/core/coordinate_dimension.hpp | 11 +++
trunk/boost/geometry/extensions/algebra/core/coordinate_system.hpp | 17 ++++
trunk/boost/geometry/extensions/algebra/core/coordinate_type.hpp | 17 ++++
trunk/boost/geometry/extensions/algebra/core/tags.hpp | 3
trunk/boost/geometry/extensions/algebra/geometries/concepts/matrix_concept.hpp | 141 ++++++++++++++++++++++++++++++++++++++++
trunk/boost/geometry/extensions/algebra/geometries/concepts/quaternion_concept.hpp | 111 +++++++++++++++++++++++++++++++
trunk/boost/geometry/extensions/algebra/geometries/matrix.hpp | 131 +++++++++++++++++++++++++++++++++++++
trunk/boost/geometry/extensions/algebra/geometries/quaternion.hpp | 130 ++++++++++++++++++++++++++++++++++++
9 files changed, 598 insertions(+), 0 deletions(-)
Modified: trunk/boost/geometry/extensions/algebra/core/access.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/core/access.hpp Fri Jun 21 14:16:47 2013 (r84867)
+++ trunk/boost/geometry/extensions/algebra/core/access.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -56,6 +56,43 @@
};
template <typename Q, typename CoordinateType, std::size_t Dimension>
+struct access<quaternion_tag, Q, CoordinateType, Dimension, boost::false_type>
+{
+ static inline CoordinateType get(Q const& v)
+ {
+ return traits::access<Q, Dimension>::get(v);
+ }
+ static inline void set(Q& v, CoordinateType const& value)
+ {
+ traits::access<Q, Dimension>::set(v, value);
+ }
+};
+
+template <typename Q, typename CoordinateType, std::size_t Dimension>
+struct access<quaternion_tag, Q, CoordinateType, Dimension, boost::true_type>
+{
+ static inline CoordinateType get(Q const* v)
+ {
+ return traits::access<typename boost::remove_pointer<Q>::type, Dimension>::get(*v);
+ }
+ static inline void set(Q* v, CoordinateType const& value)
+ {
+ traits::access<typename boost::remove_pointer<Q>::type, Dimension>::set(*v, value);
+ }
+};
+
+template<typename M, typename CoordinateType, std::size_t I, std::size_t J>
+struct indexed_access<matrix_tag, M, CoordinateType, I, J, boost::false_type>
+ : detail::indexed_access_non_pointer<M, CoordinateType, I, J>
+{};
+
+template<typename M, typename CoordinateType, std::size_t I, std::size_t J>
+struct indexed_access<matrix_tag, M, CoordinateType, I, J, boost::true_type>
+ : detail::indexed_access_pointer<M, CoordinateType, I, J>
+{};
+
+
+template <typename Q, typename CoordinateType, std::size_t Dimension>
struct access<rotation_quaternion_tag, Q, CoordinateType, Dimension, boost::false_type>
{
static inline CoordinateType get(Q const& v)
Modified: trunk/boost/geometry/extensions/algebra/core/coordinate_dimension.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/core/coordinate_dimension.hpp Fri Jun 21 14:16:47 2013 (r84867)
+++ trunk/boost/geometry/extensions/algebra/core/coordinate_dimension.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -30,6 +30,17 @@
{};
template <typename G>
+struct dimension<quaternion_tag, G>
+ : traits::dimension<typename geometry::util::bare_type<G>::type>
+{};
+
+template <typename G, std::size_t Index>
+struct indexed_dimension<matrix_tag, G, Index>
+ : traits::indexed_dimension<typename geometry::util::bare_type<G>::type, Index>
+{};
+
+
+template <typename G>
struct dimension<rotation_quaternion_tag, G>
: traits::dimension<typename geometry::util::bare_type<G>::type>
{};
Modified: trunk/boost/geometry/extensions/algebra/core/coordinate_system.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/core/coordinate_system.hpp Fri Jun 21 14:16:47 2013 (r84867)
+++ trunk/boost/geometry/extensions/algebra/core/coordinate_system.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -32,6 +32,23 @@
>::type type;
};
+//template <typename G>
+//struct coordinate_system<quaternion_tag, G>
+//{
+// typedef typename traits::coordinate_system<
+// typename geometry::util::bare_type<G>::type
+// >::type type;
+//};
+//
+//template <typename G>
+//struct coordinate_system<matrix_tag, G>
+//{
+// typedef typename traits::coordinate_system<
+// typename geometry::util::bare_type<G>::type
+// >::type type;
+//};
+
+
template <typename G>
struct coordinate_system<rotation_quaternion_tag, G>
{
Modified: trunk/boost/geometry/extensions/algebra/core/coordinate_type.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/core/coordinate_type.hpp Fri Jun 21 14:16:47 2013 (r84867)
+++ trunk/boost/geometry/extensions/algebra/core/coordinate_type.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -33,6 +33,23 @@
};
template <typename G>
+struct coordinate_type<quaternion_tag, G>
+{
+ typedef typename traits::coordinate_type<
+ typename geometry::util::bare_type<G>::type
+ >::type type;
+};
+
+template <typename G>
+struct coordinate_type<matrix_tag, G>
+{
+ typedef typename traits::coordinate_type<
+ typename geometry::util::bare_type<G>::type
+ >::type type;
+};
+
+
+template <typename G>
struct coordinate_type<rotation_quaternion_tag, G>
{
typedef typename traits::coordinate_type<
Modified: trunk/boost/geometry/extensions/algebra/core/tags.hpp
==============================================================================
--- trunk/boost/geometry/extensions/algebra/core/tags.hpp Fri Jun 21 14:16:47 2013 (r84867)
+++ trunk/boost/geometry/extensions/algebra/core/tags.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -21,6 +21,9 @@
struct vector_tag {};
+struct quaternion_tag {};
+struct matrix_tag {};
+
struct rotation_quaternion_tag {};
struct rotation_matrix_tag {};
Added: trunk/boost/geometry/extensions/algebra/geometries/concepts/matrix_concept.hpp
==============================================================================
--- /dev/null 00:00:00 1970 (empty, because file is newly added)
+++ trunk/boost/geometry/extensions/algebra/geometries/concepts/matrix_concept.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -0,0 +1,141 @@
+// Boost.Geometry (aka GGL, Generic Geometry Library)
+
+// Copyright (c) 2007-2012 Barend Gehrels, Amsterdam, the Netherlands.
+// Copyright (c) 2008-2012 Bruno Lalande, Paris, France.
+// Copyright (c) 2009-2012 Mateusz Loskot, London, UK.
+// Copyright (c) 2013 Adam Wulkiewicz, Lodz, Poland.
+
+// Parts of Boost.Geometry are redesigned from Geodan's Geographic Library
+// (geolib/GGL), copyright (c) 1995-2010 Geodan, Amsterdam, the Netherlands.
+
+// Use, modification and distribution is subject to the Boost Software License,
+// Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_CONCEPTS_MATRIX_CONCEPT_HPP
+#define BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_CONCEPTS_MATRIX_CONCEPT_HPP
+
+#include <boost/concept_check.hpp>
+
+#include <boost/geometry/core/coordinate_dimension.hpp>
+#include <boost/geometry/core/access.hpp>
+
+namespace boost { namespace geometry { namespace concept {
+
+template <typename Geometry>
+class Matrix
+{
+#ifndef DOXYGEN_NO_CONCEPT_MEMBERS
+
+ typedef typename coordinate_type<Geometry>::type ctype;
+ typedef typename coordinate_system<Geometry>::type csystem;
+
+ enum { ccount = dimension<Geometry>::value };
+
+ template <typename G, std::size_t I, std::size_t J, std::size_t N>
+ struct dimension_checker_row
+ {
+ static void apply()
+ {
+ G* g = 0;
+ geometry::set<I, J>(*g, geometry::get<I, J>(*g));
+ dimension_checker_row<G, I, J+1, N>::apply();
+ }
+ };
+
+ template <typename G, std::size_t I, std::size_t N>
+ struct dimension_checker_row<G, I, N, N>
+ {
+ static void apply() {}
+ };
+
+ template <typename G, std::size_t I, std::size_t N>
+ struct dimension_checker
+ {
+ static void apply()
+ {
+ dimension_checker_row<G, I, 0, N>;
+ dimension_checker<G, I+1, N>::apply();
+ }
+ };
+
+ template <typename G, std::size_t N>
+ struct dimension_checker<G, N, N>
+ {
+ static void apply() {}
+ };
+
+public:
+
+ /// BCCL macro to apply the concept
+ BOOST_CONCEPT_USAGE(Matrix)
+ {
+ static const bool cs_check = ::boost::is_same<csystem, cs::cartesian>::value;
+ BOOST_MPL_ASSERT_MSG(cs_check, NOT_IMPLEMENTED_FOR_THIS_CS, (csystem));
+
+ dimension_checker<Geometry, 0, ccount>::apply();
+ }
+#endif
+};
+
+
+template <typename Geometry>
+class ConstMatrix
+{
+#ifndef DOXYGEN_NO_CONCEPT_MEMBERS
+
+ //typedef typename coordinate_type<Geometry>::type ctype;
+ //typedef typename coordinate_system<Geometry>::type csystem;
+
+ //enum { ccount = dimension<Geometry>::value };
+
+ template <typename G, std::size_t I, std::size_t J, std::size_t N>
+ struct dimension_checker_row
+ {
+ static void apply()
+ {
+ const G* g = 0;
+ ctype coord(geometry::get<I, J>(*g));
+ boost::ignore_unused_variable_warning(coord);
+ dimension_checker_row<G, I, J+1, N>::apply();
+ }
+ };
+
+ template <typename G, std::size_t I, std::size_t N>
+ struct dimension_checker_row<G, I, N, N>
+ {
+ static void apply() {}
+ };
+
+ template <typename G, std::size_t I, std::size_t N>
+ struct dimension_checker
+ {
+ static void apply()
+ {
+ dimension_checker_row<G, I, 0, N>;
+ dimension_checker<G, I+1, N>::apply();
+ }
+ };
+
+ template <typename G, std::size_t N>
+ struct dimension_checker<G, N, N>
+ {
+ static void apply() {}
+ };
+
+public:
+
+ /// BCCL macro to apply the concept
+ BOOST_CONCEPT_USAGE(ConstMatrix)
+ {
+ //static const bool cs_check = ::boost::is_same<csystem, cs::cartesian>::value;
+ //BOOST_MPL_ASSERT_MSG(cs_check, NOT_IMPLEMENTED_FOR_THIS_CS, (csystem));
+
+ //dimension_checker<Geometry, 0, ccount>::apply();
+ }
+#endif
+};
+
+}}} // namespace boost::geometry::concept
+
+#endif // BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_CONCEPTS_MATRIX_CONCEPT_HPP
Added: trunk/boost/geometry/extensions/algebra/geometries/concepts/quaternion_concept.hpp
==============================================================================
--- /dev/null 00:00:00 1970 (empty, because file is newly added)
+++ trunk/boost/geometry/extensions/algebra/geometries/concepts/quaternion_concept.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -0,0 +1,111 @@
+// Boost.Geometry (aka GGL, Generic Geometry Library)
+
+// Copyright (c) 2007-2012 Barend Gehrels, Amsterdam, the Netherlands.
+// Copyright (c) 2008-2012 Bruno Lalande, Paris, France.
+// Copyright (c) 2009-2012 Mateusz Loskot, London, UK.
+// Copyright (c) 2013 Adam Wulkiewicz, Lodz, Poland.
+
+// Parts of Boost.Geometry are redesigned from Geodan's Geographic Library
+// (geolib/GGL), copyright (c) 1995-2010 Geodan, Amsterdam, the Netherlands.
+
+// Use, modification and distribution is subject to the Boost Software License,
+// Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_CONCEPTS_QUATERNION_CONCEPT_HPP
+#define BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_CONCEPTS_QUATERNION_CONCEPT_HPP
+
+#include <boost/concept_check.hpp>
+
+#include <boost/geometry/core/coordinate_dimension.hpp>
+#include <boost/geometry/core/access.hpp>
+
+namespace boost { namespace geometry { namespace concept {
+
+template <typename Geometry>
+class Quaternion
+{
+#ifndef DOXYGEN_NO_CONCEPT_MEMBERS
+
+ //typedef typename coordinate_type<Geometry>::type ctype;
+ //typedef typename coordinate_system<Geometry>::type csystem;
+
+ template <typename G, std::size_t I, std::size_t N>
+ struct dimension_checker
+ {
+ static void apply()
+ {
+ G* g = 0;
+ geometry::set<I>(*g, geometry::get<I>(*g));
+ dimension_checker<G, I+1, N>::apply();
+ }
+ };
+
+
+ template <typename G, std::size_t N>
+ struct dimension_checker<G, N, N>
+ {
+ static void apply() {}
+ };
+
+public:
+
+ /// BCCL macro to apply the Vector concept
+ BOOST_CONCEPT_USAGE(Quaternion)
+ {
+ //static const bool dim_check = dimension<Geometry>::value == 4;
+ //BOOST_MPL_ASSERT_MSG(dim_check, INVALID_DIMENSION, (RotationQuaternion));
+ //static const bool cs_check = ::boost::is_same<csystem, cs::cartesian>::value;
+ //BOOST_MPL_ASSERT_MSG(cs_check, NOT_IMPLEMENTED_FOR_THIS_CS, (csystem));
+
+ dimension_checker<Geometry, 0, 4>::apply();
+ }
+#endif
+};
+
+
+template <typename Geometry>
+class ConstQuaternion
+{
+#ifndef DOXYGEN_NO_CONCEPT_MEMBERS
+
+ //typedef typename coordinate_type<Geometry>::type ctype;
+ //typedef typename coordinate_system<Geometry>::type csystem;
+
+ template <typename G, std::size_t I, std::size_t N>
+ struct dimension_checker
+ {
+ static void apply()
+ {
+ const G* g = 0;
+ ctype coord(geometry::get<I>(*g));
+ boost::ignore_unused_variable_warning(coord);
+ dimension_checker<G, I+1, N>::apply();
+ }
+ };
+
+
+ template <typename G, std::size_t N>
+ struct dimension_checker<G, N, N>
+ {
+ static void apply() {}
+ };
+
+public:
+
+ /// BCCL macro to apply the ConstVector concept
+ BOOST_CONCEPT_USAGE(ConstQuaternion)
+ {
+ //static const bool dim_check = dimension<Geometry>::value == 4;
+ //BOOST_MPL_ASSERT_MSG(dim_check, INVALID_DIMENSION, (ConstRotationQuaternion));
+ //static const bool cs_check = ::boost::is_same<csystem, cs::cartesian>::value;
+ //BOOST_MPL_ASSERT_MSG(cs_check, NOT_IMPLEMENTED_FOR_THIS_CS, (csystem));
+
+ dimension_checker<Geometry, 0, 4>::apply();
+ }
+#endif
+};
+
+}}} // namespace boost::geometry::concept
+
+#endif // BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_CONCEPTS_QUATERNION_CONCEPT_HPP
Added: trunk/boost/geometry/extensions/algebra/geometries/matrix.hpp
==============================================================================
--- /dev/null 00:00:00 1970 (empty, because file is newly added)
+++ trunk/boost/geometry/extensions/algebra/geometries/matrix.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -0,0 +1,131 @@
+// Boost.Geometry (aka GGL, Generic Geometry Library)
+
+// Copyright (c) 2007-2012 Barend Gehrels, Amsterdam, the Netherlands.
+// Copyright (c) 2008-2012 Bruno Lalande, Paris, France.
+// Copyright (c) 2009-2012 Mateusz Loskot, London, UK.
+// Copyright (c) 2013 Adam Wulkiewicz, Lodz, Poland.
+
+// Parts of Boost.Geometry are redesigned from Geodan's Geographic Library
+// (geolib/GGL), copyright (c) 1995-2010 Geodan, Amsterdam, the Netherlands.
+
+// Use, modification and distribution is subject to the Boost Software License,
+// Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_MATRIX_HPP
+#define BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_MATRIX_HPP
+
+#include <cstddef>
+
+#include <boost/geometry/extensions/algebra/core/tags.hpp>
+#include <boost/geometry/extensions/algebra/geometries/concepts/matrix_concept.hpp>
+
+namespace boost { namespace geometry {
+
+namespace model {
+
+template <typename T, std::size_t Rows, std::size_t Cols>
+class matrix
+{
+ BOOST_CONCEPT_ASSERT( (concept::Matrix<matrix>) );
+
+public:
+
+ /// @brief Default constructor, no initialization
+ inline matrix()
+ {}
+
+ /// @brief Get a coordinate
+ /// @tparam I row index
+ /// @tparam J col index
+ /// @return the cell value
+ template <std::size_t I, std::size_t J>
+ inline T const& get() const
+ {
+ BOOST_STATIC_ASSERT(I < Rows);
+ BOOST_STATIC_ASSERT(J < Cols);
+ return m_values[I + Rows * J];
+ }
+
+ /// @brief Set a coordinate
+ /// @tparam I row index
+ /// @tparam J col index
+ /// @param value value to set
+ template <std::size_t I, std::size_t J>
+ inline void set(T const& value)
+ {
+ BOOST_STATIC_ASSERT(I < Rows);
+ BOOST_STATIC_ASSERT(J < Cols);
+ m_values[I + Rows * J] = value;
+ }
+
+private:
+
+ T m_values[Rows * Cols];
+};
+
+} // namespace model
+
+#ifndef DOXYGEN_NO_TRAITS_SPECIALIZATIONS
+namespace traits
+{
+
+template <typename CoordinateType, std::size_t Rows, std::size_t Cols>
+struct tag<model::matrix<CoordinateType, Rows, Cols> >
+{
+ typedef matrix_tag type;
+};
+
+template <typename CoordinateType, std::size_t Rows, std::size_t Cols>
+struct coordinate_type<model::matrix<CoordinateType, Rows, Cols> >
+{
+ typedef CoordinateType type;
+};
+
+//template <typename CoordinateType, std::size_t Rows, std::size_t Cols>
+//struct coordinate_system<model::matrix<CoordinateType, Rows, Cols> >
+//{
+// typedef cs::cartesian type;
+//};
+
+// TODO - move this class to traits.hpp
+template <typename Geometry, std::size_t Index>
+struct indexed_dimension
+{
+ BOOST_MPL_ASSERT_MSG(false,
+ NOT_IMPLEMENTED_FOR_THIS_GEOMETRY_OR_INDEX,
+ (Geometry, boost::integral_constant<std::size_t, Index>));
+};
+
+template <typename CoordinateType, std::size_t Rows, std::size_t Cols>
+struct indexed_dimension<model::matrix<CoordinateType, Rows, Cols>, 0>
+ : boost::integral_constant<std::size_t, Rows>
+{};
+
+template <typename CoordinateType, std::size_t Rows, std::size_t Cols>
+struct indexed_dimension<model::matrix<CoordinateType, Rows, Cols>, 1>
+ : boost::integral_constant<std::size_t, Cols>
+{};
+
+template <typename CoordinateType, std::size_t Rows, std::size_t Cols, std::size_t I, std::size_t J>
+struct indexed_access<model::matrix<CoordinateType, Dimension>, I, J>
+{
+ typedef CoordinateType coordinate_type;
+
+ static inline coordinate_type get(model::matrix<CoordinateType, Rows, Cols> const& m)
+ {
+ return m.template get<I, J>();
+ }
+
+ static inline void set(model::matrix<CoordinateType, Rows, Cols> & m, coordinate_type const& value)
+ {
+ m.template set<I, J>(value);
+ }
+};
+
+} // namespace traits
+#endif // DOXYGEN_NO_TRAITS_SPECIALIZATIONS
+
+}} // namespace boost::geometry
+
+#endif // BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_MATRIX_HPP
Added: trunk/boost/geometry/extensions/algebra/geometries/quaternion.hpp
==============================================================================
--- /dev/null 00:00:00 1970 (empty, because file is newly added)
+++ trunk/boost/geometry/extensions/algebra/geometries/quaternion.hpp 2013-06-21 15:30:38 EDT (Fri, 21 Jun 2013) (r84868)
@@ -0,0 +1,130 @@
+// Boost.Geometry (aka GGL, Generic Geometry Library)
+
+// Copyright (c) 2007-2012 Barend Gehrels, Amsterdam, the Netherlands.
+// Copyright (c) 2008-2012 Bruno Lalande, Paris, France.
+// Copyright (c) 2009-2012 Mateusz Loskot, London, UK.
+// Copyright (c) 2013 Adam Wulkiewicz, Lodz, Poland.
+
+// Parts of Boost.Geometry are redesigned from Geodan's Geographic Library
+// (geolib/GGL), copyright (c) 1995-2010 Geodan, Amsterdam, the Netherlands.
+
+// Use, modification and distribution is subject to the Boost Software License,
+// Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_QUATERNION_HPP
+#define BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_QUATERNION_HPP
+
+#include <cstddef>
+
+#include <boost/geometry/extensions/algebra/core/tags.hpp>
+#include <boost/geometry/extensions/algebra/geometries/concepts/quaternion_concept.hpp>
+
+// WARNING!
+// It is probable that the sequence of coordinate will change in the future
+// at the beginning there would be xyz, w would become the last coordinate
+
+namespace boost { namespace geometry
+{
+
+namespace model
+{
+
+template <typename T>
+class quaternion
+{
+ BOOST_CONCEPT_ASSERT( (concept::Quaternion<quaternion>) );
+
+public:
+
+ /// @brief Default constructor, no initialization
+ inline quaternion()
+ {}
+
+ /// @brief Constructor to set components
+ inline quaternion(T const& w, T const& x, T const& y, T const& z)
+ {
+ m_values[0] = w;
+ m_values[1] = x;
+ m_values[2] = y;
+ m_values[3] = z;
+ }
+
+ /// @brief Get a coordinate
+ /// @tparam K coordinate to get
+ /// @return the coordinate
+ template <std::size_t K>
+ inline T const& get() const
+ {
+ BOOST_STATIC_ASSERT(K < 4);
+ return m_values[K];
+ }
+
+ /// @brief Set a coordinate
+ /// @tparam K coordinate to set
+ /// @param value value to set
+ template <std::size_t K>
+ inline void set(T const& value)
+ {
+ BOOST_STATIC_ASSERT(K < 4);
+ m_values[K] = value;
+ }
+
+private:
+
+ T m_values[4];
+};
+
+
+} // namespace model
+
+#ifndef DOXYGEN_NO_TRAITS_SPECIALIZATIONS
+namespace traits
+{
+
+template <typename CoordinateType>
+struct tag<model::quaternion<CoordinateType> >
+{
+ typedef quaternion_tag type;
+};
+
+template <typename CoordinateType>
+struct coordinate_type<model::quaternion<CoordinateType> >
+{
+ typedef CoordinateType type;
+};
+
+//template <typename CoordinateType>
+//struct coordinate_system<model::quaternion<CoordinateType> >
+//{
+// typedef cs::cartesian type;
+//};
+
+template <typename CoordinateType>
+struct dimension<model::quaternion<CoordinateType> >
+ : boost::integral_constant<std::size_t, 4>
+{};
+
+template<typename CoordinateType, std::size_t Dimension>
+struct access<model::quaternion<CoordinateType>, Dimension>
+{
+ static inline CoordinateType get(
+ model::quaternion<CoordinateType> const& v)
+ {
+ return v.template get<Dimension>();
+ }
+
+ static inline void set(
+ model::quaternion<CoordinateType> & v,
+ CoordinateType const& value)
+ {
+ v.template set<Dimension>(value);
+ }
+};
+
+} // namespace traits
+#endif // DOXYGEN_NO_TRAITS_SPECIALIZATIONS
+
+}} // namespace boost::geometry
+
+#endif // BOOST_GEOMETRY_EXTENSIONS_ALGEBRA_GEOMETRIES_QUATERNION_HPP