cosmos 3.0.1 → 3.1.0

data/lib/cosmos/utilities/logger.rb

@@ -1,137 +1,137 @@
-# encoding: ascii-8bit
-
-# Copyright 2014 Ball Aerospace & Technologies Corp.
-# All Rights Reserved.
-#
-# This program is free software; you can modify and/or redistribute it
-# under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 3 with
-# attribution addendums as found in the LICENSE.txt
-
-require 'cosmos/core_ext/class'
-require 'cosmos/core_ext/time'
-require 'thread'
-require 'logger'
-
-module Cosmos
-
-  # Supports different levels of logging and only writes to stdout if the level
-  # is exceeded.
-  class Logger
-
-    # @return [Integer] The logging level
-    instance_attr_accessor :level
-    instance_attr_accessor :detail_string
-
-    @@instance = nil
-
-    # DEBUG only prints DEBUG messages
-    DEBUG = ::Logger::DEBUG
-    # INFO prints INFO, DEBUG messages
-    INFO  = ::Logger::INFO
-    # WARN prints WARN, INFO, DEBUG messages
-    WARN  = ::Logger::WARN
-    # ERROR prints ERROR, WARN, INFO, DEBUG messages
-    ERROR = ::Logger::ERROR
-    # FATAL prints FATAL, ERROR, WARN, INFO, DEBUG messages
-    FATAL = ::Logger::FATAL
-    # UNKNOWN always prints
-    UNKNOWN = ::Logger::UNKNOWN
-
-    DEBUG_SEVERITY_STRING = ' DEBUG:'
-    INFO_SEVERITY_STRING = ' INFO:'
-    WARN_SEVERITY_STRING = ' WARN:'
-    ERROR_SEVERITY_STRING = ' ERROR:'
-    FATAL_SEVERITY_STRING = ' FATAL:'
-    UNKNOWN_SEVERITY_STRING = ''
-
-    # @param level [Integer] The initial logging level
-    def initialize(level = Logger::UNKNOWN)
-      @level = level
-      @detail_string = nil
-      @mutex = Mutex.new
-    end
-
-    # @param message [String] The message to print if the log level is at or
-    #   below the method name log level.
-    # @param block [Proc] Block to call which should return a string to append
-    #   to the log message
-    def debug(message = nil, &block)
-      log_message(DEBUG_SEVERITY_STRING, message, &block) if @level <= DEBUG
-    end
-
-    # (see #debug)
-    def info(message = nil, &block)
-      log_message(INFO_SEVERITY_STRING, message, &block) if @level <= INFO
-    end
-
-    # (see #debug)
-    def warn(message = nil, &block)
-      log_message(WARN_SEVERITY_STRING, message, &block) if @level <= WARN
-    end
-
-    # (see #debug)
-    def error(message = nil, &block)
-      log_message(ERROR_SEVERITY_STRING, message, &block) if @level <= ERROR
-    end
-
-    # (see #debug)
-    def fatal(message = nil, &block)
-      log_message(FATAL_SEVERITY_STRING, message, &block) if @level <= FATAL
-    end
-
-    # (see #debug)
-    def unknown(message = nil, &block)
-      log_message(UNKNOWN_SEVERITY_STRING, message, &block) if @level <= UNKNOWN
-    end
-
-    # (see #debug)
-    def self.debug(message = nil, &block)
-      self.instance.debug(message, &block)
-    end
-
-    # (see #debug)
-    def self.info(message = nil, &block)
-      self.instance.info(message, &block)
-    end
-
-    # (see #debug)
-    def self.warn(message = nil, &block)
-      self.instance.warn(message, &block)
-    end
-
-    # (see #debug)
-    def self.error(message = nil, &block)
-      self.instance.error(message, &block)
-    end
-
-    # (see #debug)
-    def self.fatal(message = nil, &block)
-      self.instance.fatal(message, &block)
-    end
-
-    # (see #debug)
-    def self.unknown(message = nil, &block)
-      self.instance.unknown(message, &block)
-    end
-
-    # @return [Logger] The logger instance
-    def self.instance
-      @@instance ||= self.new
-    end
-
-    protected
-
-    def log_message(severity_string, message, &block)
-      @mutex.synchronize do
-        if block_given?
-          puts "#{Time.now.formatted} #{@detail_string ? "(#{@detail_string}):" : ''}#{severity_string} " << yield
-        else
-          puts "#{Time.now.formatted} #{@detail_string ? "(#{@detail_string}):" : ''}#{severity_string} #{message}"
-        end
-      end
-    end
-
-  end # class Logger
-
-end
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+require 'cosmos/core_ext/class'
+require 'cosmos/core_ext/time'
+require 'thread'
+require 'logger'
+
+module Cosmos
+
+  # Supports different levels of logging and only writes to stdout if the level
+  # is exceeded.
+  class Logger
+
+    # @return [Integer] The logging level
+    instance_attr_accessor :level
+    instance_attr_accessor :detail_string
+
+    @@instance = nil
+
+    # DEBUG only prints DEBUG messages
+    DEBUG = ::Logger::DEBUG
+    # INFO prints INFO, DEBUG messages
+    INFO  = ::Logger::INFO
+    # WARN prints WARN, INFO, DEBUG messages
+    WARN  = ::Logger::WARN
+    # ERROR prints ERROR, WARN, INFO, DEBUG messages
+    ERROR = ::Logger::ERROR
+    # FATAL prints FATAL, ERROR, WARN, INFO, DEBUG messages
+    FATAL = ::Logger::FATAL
+    # UNKNOWN always prints
+    UNKNOWN = ::Logger::UNKNOWN
+
+    DEBUG_SEVERITY_STRING = ' DEBUG:'
+    INFO_SEVERITY_STRING = ' INFO:'
+    WARN_SEVERITY_STRING = ' WARN:'
+    ERROR_SEVERITY_STRING = ' ERROR:'
+    FATAL_SEVERITY_STRING = ' FATAL:'
+    UNKNOWN_SEVERITY_STRING = ''
+
+    # @param level [Integer] The initial logging level
+    def initialize(level = Logger::UNKNOWN)
+      @level = level
+      @detail_string = nil
+      @mutex = Mutex.new
+    end
+
+    # @param message [String] The message to print if the log level is at or
+    #   below the method name log level.
+    # @param block [Proc] Block to call which should return a string to append
+    #   to the log message
+    def debug(message = nil, &block)
+      log_message(DEBUG_SEVERITY_STRING, message, &block) if @level <= DEBUG
+    end
+
+    # (see #debug)
+    def info(message = nil, &block)
+      log_message(INFO_SEVERITY_STRING, message, &block) if @level <= INFO
+    end
+
+    # (see #debug)
+    def warn(message = nil, &block)
+      log_message(WARN_SEVERITY_STRING, message, &block) if @level <= WARN
+    end
+
+    # (see #debug)
+    def error(message = nil, &block)
+      log_message(ERROR_SEVERITY_STRING, message, &block) if @level <= ERROR
+    end
+
+    # (see #debug)
+    def fatal(message = nil, &block)
+      log_message(FATAL_SEVERITY_STRING, message, &block) if @level <= FATAL
+    end
+
+    # (see #debug)
+    def unknown(message = nil, &block)
+      log_message(UNKNOWN_SEVERITY_STRING, message, &block) if @level <= UNKNOWN
+    end
+
+    # (see #debug)
+    def self.debug(message = nil, &block)
+      self.instance.debug(message, &block)
+    end
+
+    # (see #debug)
+    def self.info(message = nil, &block)
+      self.instance.info(message, &block)
+    end
+
+    # (see #debug)
+    def self.warn(message = nil, &block)
+      self.instance.warn(message, &block)
+    end
+
+    # (see #debug)
+    def self.error(message = nil, &block)
+      self.instance.error(message, &block)
+    end
+
+    # (see #debug)
+    def self.fatal(message = nil, &block)
+      self.instance.fatal(message, &block)
+    end
+
+    # (see #debug)
+    def self.unknown(message = nil, &block)
+      self.instance.unknown(message, &block)
+    end
+
+    # @return [Logger] The logger instance
+    def self.instance
+      @@instance ||= self.new
+    end
+
+    protected
+
+    def log_message(severity_string, message, &block)
+      @mutex.synchronize do
+        if block_given?
+          puts "#{Time.now.formatted} #{@detail_string ? "(#{@detail_string}):" : ''}#{severity_string} " << yield
+        else
+          puts "#{Time.now.formatted} #{@detail_string ? "(#{@detail_string}):" : ''}#{severity_string} #{message}"
+        end
+      end
+    end
+
+  end # class Logger
+
+end

data/lib/cosmos/utilities/low_fragmentation_array.rb

@@ -1,11 +1,11 @@
-# encoding: ascii-8bit
-
-# Copyright 2014 Ball Aerospace & Technologies Corp.
-# All Rights Reserved.
-#
-# This program is free software; you can modify and/or redistribute it
-# under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 3 with
-# attribution addendums as found in the LICENSE.txt
-
-require 'cosmos/ext/low_fragmentation_array'
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+require 'cosmos/ext/low_fragmentation_array'

data/lib/cosmos/utilities/message_log.rb

@@ -1,74 +1,74 @@
-# encoding: ascii-8bit
-
-# Copyright 2014 Ball Aerospace & Technologies Corp.
-# All Rights Reserved.
-#
-# This program is free software; you can modify and/or redistribute it
-# under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 3 with
-# attribution addendums as found in the LICENSE.txt
-
-require 'cosmos/config/config_parser'
-require 'cosmos/system/system'
-require 'fileutils'
-
-module Cosmos
-
-  # Handles writing message logs to a file
-  class MessageLog
-
-    # @return [String] The name of the message log file. Empty string until the
-    #   write or start methods are called at which point it is set to the
-    #   filename. Retains the last filename even after stop is called.
-    attr_reader :filename
-
-    # @param tool_name [String] The name of the tool creating the message log.
-    #   This will be inserted into the message log file name to help identify it.
-    # @param log_dir [String] The filesystem path to store the message log file.
-    def initialize(tool_name, log_dir = nil)
-      @tool_name = tool_name
-      @log_dir = ConfigParser.handle_nil(log_dir)
-      @log_dir = System.paths['LOGS'] unless @log_dir
-      @filename = ''
-      @file = nil
-      @start_time = nil
-    end
-
-    # Ensures the log file is opened and ready to write. It then writes the
-    # message to the log and flushes it to force the write.
-    #
-    # @param message [String] Message to write to the log
-    def write(message)
-      if @file.nil? or @file.closed? or (not File.exist?(@filename))
-        start()
-      end
-
-      @file.write(message)
-      # While it's nice to flush the IO this is an extreme slowdown
-      #@file.flush
-    end
-
-    # Closes the message log and marks it read only
-    def stop
-      if @file and not @file.closed?
-        @file.close
-        Cosmos.set_working_dir do
-          File.chmod(0444, @filename)
-        end
-      end
-    end
-
-    # Creates a new message log and sets the filename
-    def start
-      # Prevent starting files too fast
-      sleep(0.1) until !File.exist?(File.join(@log_dir, File.build_timestamped_filename([@tool_name, 'messages'])))
-      stop()
-      Cosmos.set_working_dir do
-        @filename = File.join(@log_dir, File.build_timestamped_filename([@tool_name, 'messages']))
-        @file = File.open(@filename, 'a')
-      end
-    end
-
-  end # class MessageLog
-
-end # module Cosmos
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+require 'cosmos/config/config_parser'
+require 'cosmos/system/system'
+require 'fileutils'
+
+module Cosmos
+
+  # Handles writing message logs to a file
+  class MessageLog
+
+    # @return [String] The name of the message log file. Empty string until the
+    #   write or start methods are called at which point it is set to the
+    #   filename. Retains the last filename even after stop is called.
+    attr_reader :filename
+
+    # @param tool_name [String] The name of the tool creating the message log.
+    #   This will be inserted into the message log file name to help identify it.
+    # @param log_dir [String] The filesystem path to store the message log file.
+    def initialize(tool_name, log_dir = nil)
+      @tool_name = tool_name
+      @log_dir = ConfigParser.handle_nil(log_dir)
+      @log_dir = System.paths['LOGS'] unless @log_dir
+      @filename = ''
+      @file = nil
+      @start_time = nil
+    end
+
+    # Ensures the log file is opened and ready to write. It then writes the
+    # message to the log and flushes it to force the write.
+    #
+    # @param message [String] Message to write to the log
+    def write(message)
+      if @file.nil? or @file.closed? or (not File.exist?(@filename))
+        start()
+      end
+
+      @file.write(message)
+      # While it's nice to flush the IO this is an extreme slowdown
+      #@file.flush
+    end
+
+    # Closes the message log and marks it read only
+    def stop
+      if @file and not @file.closed?
+        @file.close
+        Cosmos.set_working_dir do
+          File.chmod(0444, @filename)
+        end
+      end
+    end
+
+    # Creates a new message log and sets the filename
+    def start
+      # Prevent starting files too fast
+      sleep(0.1) until !File.exist?(File.join(@log_dir, File.build_timestamped_filename([@tool_name, 'messages'])))
+      stop()
+      Cosmos.set_working_dir do
+        @filename = File.join(@log_dir, File.build_timestamped_filename([@tool_name, 'messages']))
+        @file = File.open(@filename, 'a')
+      end
+    end
+
+  end # class MessageLog
+
+end # module Cosmos

data/lib/cosmos/utilities/quaternion.rb

@@ -1,258 +1,258 @@
-# encoding: ascii-8bit
-
-# Copyright 2014 Ball Aerospace & Technologies Corp.
-# All Rights Reserved.
-#
-# This program is free software; you can modify and/or redistribute it
-# under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 3 with
-# attribution addendums as found in the LICENSE.txt
-
-require 'cosmos/core_ext/matrix'
-
-include Math
-
-module Cosmos
-
-  # A quaternion where q[3] is the scalar component
-  class Quaternion
-
-    # Create a Quaternion given the initial components
-    #
-    # @param array [Array<Float, Float, Float, Float>] Initial values where
-    # the forth value is the scalar
-    # or [Array<Float, Float, Float>] which as an axis of rotation
-    # @param angle [Float] if axis given for array parameter
-    def initialize(array = [0.0, 0.0, 0.0, 0.0], angle = nil)
-      if array.length == 4
-        @data = array.clone
-      elsif array.length == 3 and angle
-        a = 0.5 * angle
-        s = sin(a) / sqrt(array[0]*array[0] + array[1]*array[1] + array[2]*array[2])
-        @data = []
-        @data[0] = array[0] * s
-        @data[1] = array[1] * s
-        @data[2] = array[2] * s
-        @data[3] = cos(a)
-      else
-        raise "Invalid arguments given to Quaternion.new"
-      end
-    end
-
-    # @return [String] The name of the class and the object_id followed by the
-    #   data
-    def to_s
-      "#<Cosmos::Quaternion:0x#{self.object_id.to_s(16)}> #{@data}"
-    end
-
-    # @param index [Integer] Which component to access
-    # @return [Float] The quaternion component
-    def [](index)
-      return data[index]
-    end
-
-    # @param index [Integer] The component to set
-    # @param value [Float] The quaternion component
-    def []=(index, value)
-      @data[index] = value
-    end
-
-    # @return [Array<Float, Float, Float, Float>] The entire quaternion where the
-    # the last element is the scalar
-    def data
-      return @data
-    end
-
-    # @param array [Array<Float, Float, Float, Float>] The entire quaternion
-    # where the the last element is the scalar
-    def data=(array)
-      @data = array
-    end
-
-    # @return [Float] The first element
-    def q0
-      return @data[0]
-    end
-    alias x q0
-
-    # @return [Float] The second element
-    def q1
-      return @data[1]
-    end
-    alias y q1
-
-    # @return [Float] The third element
-    def q2
-      return @data[2]
-    end
-    alias z q2
-
-    # @return [Float] The scalar element
-    def q3
-      return @data[3]
-    end
-    alias w q3
-
-    # @param value [Float] Set the first element
-    def q0=(value)
-      @data[0] = value
-    end
-
-    # @param value [Float] Set the second element
-    def q1=(value)
-      @data[1] = value
-    end
-
-    # @param value [Float] Set the third element
-    def q2=(value)
-      @data[2] = value
-    end
-
-    # @param value [Float] Set the scalar element
-    def q3=(value)
-      @data[3] = value
-    end
-
-    # @param other [Quaternion] Quaternion to multiply with
-    # @return [Quaternion] New quaternion resulting from the muliplication
-    def *(other)
-      q = Quaternion.new()
-
-      q[0] =  (@data[3] * other[0]) - (@data[2] * other[1]) +
-        (@data[1] * other[2]) + (@data[0] * other[3])
-      q[1] =  (@data[2] * other[0]) + (@data[3] * other[1]) -
-        (@data[0] * other[2]) + (@data[1] * other[3])
-      q[2] = -(@data[1] * other[0]) + (@data[0] * other[1]) +
-        (@data[3] * other[2]) + (@data[2] * other[3])
-      q[3] = -(@data[0] * other[0]) - (@data[1] * other[1]) -
-        (@data[2] * other[2]) + (@data[3] * other[3])
-
-      return q
-    end
-    alias qmult *
-
-    # @return [Quaternion] The inverse of the current quaternion
-    def inverse
-      Quaternion.new([-@data[0], -@data[1], -@data[2], @data[3]])
-    end
-    alias inv inverse
-
-    # @return [Quaternion] The normalized version of the current quaternion
-    def normalize
-      t = @data[0]*@data[0] + @data[1]*@data[1] + @data[2]*@data[2] + @data[3]*@data[3]
-      if t > 0.0
-        f = 1.0 / sqrt(t)
-        @data[0] *= f
-        @data[1] *= f
-        @data[2] *= f
-        @data[3] *= f
-      end
-      return self
-    end
-
-    # Rotate a vector using this quaternion
-    #
-    # @param vector [Array<Float, Float Float>] Vector to rotate
-    # @return [Array<Float, Float, Float>] New rotated vector
-    def vecrot(vector)
-      temp_q = self.inverse * (Quaternion.new([vector[0], vector[1], vector[2], 0]) * self)
-      return [temp_q[0], temp_q[1], temp_q[2]]
-    end
-
-    def self.arc(f, t)
-      dot = f[0]*t[0] + f[1]*t[1] + f[2]*t[2]
-      if dot > 0.999999
-        x = 0.0
-        y = 0.0
-        z = 0.0
-        w = 1.0
-      elsif dot < -0.999999
-        if (f.z.abs < f.x.abs) && (f.z.abs < f.y.abs)
-          x = f[0]*f[2] - f[2]*f[1]
-          y = f[2]*f[0] + f[1]*f[2]
-          z = -f[1]*f[1] - f[0]*f[0]
-        elsif f.y.abs < f.x.abs
-          x = f[1]*f[2] - f[0]*f[1]
-          y = f[0]*f[0] + f[2]*f[2]
-          z = -f[2]*f[1] - f[1]*f[0]
-        else
-          x = -f[2]*f[2] - f[1]*f[1]
-          y = f[1]*f[0] - f[0]*f[2]
-          z = f[0]*f[1] + f[2]*f[0]
-        end
-
-        dot = x*x + y*y + z*z
-        div = sqrt(dot)
-        x /= div
-        y /= div
-        z /= div
-        w = 0.0
-      else
-        div = sqrt((dot + 1.0) * 2.0)
-        x = (f[1]*t[2] - f[2]*t[1]) / div
-        y = (f[2]*t[0] - f[0]*t[2]) / div
-        z = (f[0]*t[1] - f[1]*t[0]) / div
-        w = div * 0.5
-      end
-      return Quaternion.new([x,y,z,w])
-    end
-
-    # @param value [Numeric]
-    # @return [Float] The sign of a number as 1.0 = positive, -1.0 = negative
-    def self.signnz(value)
-      if value >= 0.0
-        return 1.0
-      else
-        return -1.0
-      end
-    end
-
-    # Create a quaternion from a direction-cosine matrix (rotation matrix).
-    # Reference Article: J. Spacecraft Vol.13, No.12 Dec.1976 p754
-    #
-    # @param rotation_matrix [Matrix] The rotation matrix
-    # @return [Quaternion] New quaternion resulting from the matrix
-    def self.qfromc(rotation_matrix)
-      tracec = rotation_matrix.trace()
-      p = 1.0 + tracec
-      if p < 0.0
-        p = 0.0
-      end
-      q = Quaternion.new([0.0, 0.0, 0.0, sqrt(p) / 2.0])
-      if q[3] >= 0.1
-        factor = 1.0 / (4.0 * q[3])
-        q[0] = (rotation_matrix[1][2] - rotation_matrix[2][1]) * factor
-        q[1] = (rotation_matrix[2][0] - rotation_matrix[0][2]) * factor
-        q[2] = (rotation_matrix[0][1] - rotation_matrix[1][0]) * factor
-      else # For rotations near 180 degrees
-        q[0] = sqrt(((2.0 * rotation_matrix[0][0]) + 1.0 - tracec) / 4.0)
-        q[1] = sqrt(((2.0 * rotation_matrix[1][1]) + 1.0 - tracec) / 4.0)
-        q[2] = sqrt(((2.0 * rotation_matrix[2][2]) + 1.0 - tracec) / 4.0)
-
-        i = 0
-        if q[1] >= q[i]
-          i = 1
-        end
-        if q[2] >= q[i]
-          i = 2
-        end
-        case i
-        when 0
-          q[0] = q[0].abs * Quaternion.signnz(rotation_matrix[1][2] - rotation_matrix[2][1])
-          q[1] = q[1].abs * Quaternion.signnz((rotation_matrix[1][0] + rotation_matrix[0][1]) * q[0])
-          q[2] = q[2].abs * Quaternion.signnz((rotation_matrix[2][0] + rotation_matrix[0][2]) * q[0])
-        when 1
-          q[1] = q[1].abs * Quaternion.signnz(rotation_matrix[2][0] - rotation_matrix[0][2])
-          q[0] = q[0].abs * Quaternion.signnz((rotation_matrix[1][0] + rotation_matrix[0][1]) * q[1])
-          q[2] = q[2].abs * Quaternion.signnz((rotation_matrix[2][1] + rotation_matrix[1][2]) * q[1])
-        else
-          q[2] = q[2].abs * Quaternion.signnz(rotation_matrix[0][1] - rotation_matrix[1][0])
-          q[0] = q[0].abs * Quaternion.signnz((rotation_matrix[0][2] + rotation_matrix[2][0]) * q[2])
-          q[1] = q[1].abs * Quaternion.signnz((rotation_matrix[1][2] + rotation_matrix[2][1]) * q[2])
-        end
-      end
-
-      return q
-    end
-  end
-end
+# encoding: ascii-8bit
+
+# Copyright 2014 Ball Aerospace & Technologies Corp.
+# All Rights Reserved.
+#
+# This program is free software; you can modify and/or redistribute it
+# under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 3 with
+# attribution addendums as found in the LICENSE.txt
+
+require 'cosmos/core_ext/matrix'
+
+include Math
+
+module Cosmos
+
+  # A quaternion where q[3] is the scalar component
+  class Quaternion
+
+    # Create a Quaternion given the initial components
+    #
+    # @param array [Array<Float, Float, Float, Float>] Initial values where
+    # the forth value is the scalar
+    # or [Array<Float, Float, Float>] which as an axis of rotation
+    # @param angle [Float] if axis given for array parameter
+    def initialize(array = [0.0, 0.0, 0.0, 0.0], angle = nil)
+      if array.length == 4
+        @data = array.clone
+      elsif array.length == 3 and angle
+        a = 0.5 * angle
+        s = sin(a) / sqrt(array[0]*array[0] + array[1]*array[1] + array[2]*array[2])
+        @data = []
+        @data[0] = array[0] * s
+        @data[1] = array[1] * s
+        @data[2] = array[2] * s
+        @data[3] = cos(a)
+      else
+        raise "Invalid arguments given to Quaternion.new"
+      end
+    end
+
+    # @return [String] The name of the class and the object_id followed by the
+    #   data
+    def to_s
+      "#<Cosmos::Quaternion:0x#{self.object_id.to_s(16)}> #{@data}"
+    end
+
+    # @param index [Integer] Which component to access
+    # @return [Float] The quaternion component
+    def [](index)
+      return data[index]
+    end
+
+    # @param index [Integer] The component to set
+    # @param value [Float] The quaternion component
+    def []=(index, value)
+      @data[index] = value
+    end
+
+    # @return [Array<Float, Float, Float, Float>] The entire quaternion where the
+    # the last element is the scalar
+    def data
+      return @data
+    end
+
+    # @param array [Array<Float, Float, Float, Float>] The entire quaternion
+    # where the the last element is the scalar
+    def data=(array)
+      @data = array
+    end
+
+    # @return [Float] The first element
+    def q0
+      return @data[0]
+    end
+    alias x q0
+
+    # @return [Float] The second element
+    def q1
+      return @data[1]
+    end
+    alias y q1
+
+    # @return [Float] The third element
+    def q2
+      return @data[2]
+    end
+    alias z q2
+
+    # @return [Float] The scalar element
+    def q3
+      return @data[3]
+    end
+    alias w q3
+
+    # @param value [Float] Set the first element
+    def q0=(value)
+      @data[0] = value
+    end
+
+    # @param value [Float] Set the second element
+    def q1=(value)
+      @data[1] = value
+    end
+
+    # @param value [Float] Set the third element
+    def q2=(value)
+      @data[2] = value
+    end
+
+    # @param value [Float] Set the scalar element
+    def q3=(value)
+      @data[3] = value
+    end
+
+    # @param other [Quaternion] Quaternion to multiply with
+    # @return [Quaternion] New quaternion resulting from the muliplication
+    def *(other)
+      q = Quaternion.new()
+
+      q[0] =  (@data[3] * other[0]) - (@data[2] * other[1]) +
+        (@data[1] * other[2]) + (@data[0] * other[3])
+      q[1] =  (@data[2] * other[0]) + (@data[3] * other[1]) -
+        (@data[0] * other[2]) + (@data[1] * other[3])
+      q[2] = -(@data[1] * other[0]) + (@data[0] * other[1]) +
+        (@data[3] * other[2]) + (@data[2] * other[3])
+      q[3] = -(@data[0] * other[0]) - (@data[1] * other[1]) -
+        (@data[2] * other[2]) + (@data[3] * other[3])
+
+      return q
+    end
+    alias qmult *
+
+    # @return [Quaternion] The inverse of the current quaternion
+    def inverse
+      Quaternion.new([-@data[0], -@data[1], -@data[2], @data[3]])
+    end
+    alias inv inverse
+
+    # @return [Quaternion] The normalized version of the current quaternion
+    def normalize
+      t = @data[0]*@data[0] + @data[1]*@data[1] + @data[2]*@data[2] + @data[3]*@data[3]
+      if t > 0.0
+        f = 1.0 / sqrt(t)
+        @data[0] *= f
+        @data[1] *= f
+        @data[2] *= f
+        @data[3] *= f
+      end
+      return self
+    end
+
+    # Rotate a vector using this quaternion
+    #
+    # @param vector [Array<Float, Float Float>] Vector to rotate
+    # @return [Array<Float, Float, Float>] New rotated vector
+    def vecrot(vector)
+      temp_q = self.inverse * (Quaternion.new([vector[0], vector[1], vector[2], 0]) * self)
+      return [temp_q[0], temp_q[1], temp_q[2]]
+    end
+
+    def self.arc(f, t)
+      dot = f[0]*t[0] + f[1]*t[1] + f[2]*t[2]
+      if dot > 0.999999
+        x = 0.0
+        y = 0.0
+        z = 0.0
+        w = 1.0
+      elsif dot < -0.999999
+        if (f.z.abs < f.x.abs) && (f.z.abs < f.y.abs)
+          x = f[0]*f[2] - f[2]*f[1]
+          y = f[2]*f[0] + f[1]*f[2]
+          z = -f[1]*f[1] - f[0]*f[0]
+        elsif f.y.abs < f.x.abs
+          x = f[1]*f[2] - f[0]*f[1]
+          y = f[0]*f[0] + f[2]*f[2]
+          z = -f[2]*f[1] - f[1]*f[0]
+        else
+          x = -f[2]*f[2] - f[1]*f[1]
+          y = f[1]*f[0] - f[0]*f[2]
+          z = f[0]*f[1] + f[2]*f[0]
+        end
+
+        dot = x*x + y*y + z*z
+        div = sqrt(dot)
+        x /= div
+        y /= div
+        z /= div
+        w = 0.0
+      else
+        div = sqrt((dot + 1.0) * 2.0)
+        x = (f[1]*t[2] - f[2]*t[1]) / div
+        y = (f[2]*t[0] - f[0]*t[2]) / div
+        z = (f[0]*t[1] - f[1]*t[0]) / div
+        w = div * 0.5
+      end
+      return Quaternion.new([x,y,z,w])
+    end
+
+    # @param value [Numeric]
+    # @return [Float] The sign of a number as 1.0 = positive, -1.0 = negative
+    def self.signnz(value)
+      if value >= 0.0
+        return 1.0
+      else
+        return -1.0
+      end
+    end
+
+    # Create a quaternion from a direction-cosine matrix (rotation matrix).
+    # Reference Article: J. Spacecraft Vol.13, No.12 Dec.1976 p754
+    #
+    # @param rotation_matrix [Matrix] The rotation matrix
+    # @return [Quaternion] New quaternion resulting from the matrix
+    def self.qfromc(rotation_matrix)
+      tracec = rotation_matrix.trace()
+      p = 1.0 + tracec
+      if p < 0.0
+        p = 0.0
+      end
+      q = Quaternion.new([0.0, 0.0, 0.0, sqrt(p) / 2.0])
+      if q[3] >= 0.1
+        factor = 1.0 / (4.0 * q[3])
+        q[0] = (rotation_matrix[1][2] - rotation_matrix[2][1]) * factor
+        q[1] = (rotation_matrix[2][0] - rotation_matrix[0][2]) * factor
+        q[2] = (rotation_matrix[0][1] - rotation_matrix[1][0]) * factor
+      else # For rotations near 180 degrees
+        q[0] = sqrt(((2.0 * rotation_matrix[0][0]) + 1.0 - tracec) / 4.0)
+        q[1] = sqrt(((2.0 * rotation_matrix[1][1]) + 1.0 - tracec) / 4.0)
+        q[2] = sqrt(((2.0 * rotation_matrix[2][2]) + 1.0 - tracec) / 4.0)
+
+        i = 0
+        if q[1] >= q[i]
+          i = 1
+        end
+        if q[2] >= q[i]
+          i = 2
+        end
+        case i
+        when 0
+          q[0] = q[0].abs * Quaternion.signnz(rotation_matrix[1][2] - rotation_matrix[2][1])
+          q[1] = q[1].abs * Quaternion.signnz((rotation_matrix[1][0] + rotation_matrix[0][1]) * q[0])
+          q[2] = q[2].abs * Quaternion.signnz((rotation_matrix[2][0] + rotation_matrix[0][2]) * q[0])
+        when 1
+          q[1] = q[1].abs * Quaternion.signnz(rotation_matrix[2][0] - rotation_matrix[0][2])
+          q[0] = q[0].abs * Quaternion.signnz((rotation_matrix[1][0] + rotation_matrix[0][1]) * q[1])
+          q[2] = q[2].abs * Quaternion.signnz((rotation_matrix[2][1] + rotation_matrix[1][2]) * q[1])
+        else
+          q[2] = q[2].abs * Quaternion.signnz(rotation_matrix[0][1] - rotation_matrix[1][0])
+          q[0] = q[0].abs * Quaternion.signnz((rotation_matrix[0][2] + rotation_matrix[2][0]) * q[2])
+          q[1] = q[1].abs * Quaternion.signnz((rotation_matrix[1][2] + rotation_matrix[2][1]) * q[2])
+        end
+      end
+
+      return q
+    end
+  end
+end