@lakutata/math 0.0.0-stage → 3.1.5

package/vendor/boost/math/include/boost/math/quaternion.hpp

@@ -0,0 +1,1190 @@
+//  boost quaternion.hpp header file
+
+//  (C) Copyright Hubert Holin 2001.
+//  Distributed under 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)
+
+// See http://www.boost.org for updates, documentation, and revision history.
+
+#ifndef BOOST_QUATERNION_HPP
+#define BOOST_QUATERNION_HPP
+
+#include <boost/math_fwd.hpp>
+#include <boost/math/tools/config.hpp>
+#include <locale>                                    // for the "<<" operator
+
+#include <complex>
+#include <iosfwd>                                    // for the "<<" and ">>" operators
+#include <sstream>                                    // for the "<<" operator
+
+#include <boost/math/special_functions/sinc.hpp>    // for the Sinus cardinal
+#include <boost/math/special_functions/sinhc.hpp>    // for the Hyperbolic Sinus cardinal
+#include <boost/math/tools/cxx03_warn.hpp>
+
+#include <type_traits>
+
+namespace boost
+{
+   namespace math
+   {
+
+      namespace detail {
+
+         template <class T>
+         struct is_trivial_arithmetic_type_imp
+         {
+            typedef std::integral_constant<bool,
+               noexcept(std::declval<T&>() += std::declval<T>())
+               && noexcept(std::declval<T&>() -= std::declval<T>())
+               && noexcept(std::declval<T&>() *= std::declval<T>())
+               && noexcept(std::declval<T&>() /= std::declval<T>())
+            > type;
+         };
+
+         template <class T>
+         struct is_trivial_arithmetic_type : public is_trivial_arithmetic_type_imp<T>::type {};
+      }
+
+#ifndef BOOST_MATH_NO_CXX14_CONSTEXPR
+      namespace constexpr_detail
+      {
+         template <class T>
+         constexpr void swap(T& a, T& b)
+         {
+            T t(a);
+            a = b;
+            b = t;
+         }
+       }
+#endif
+
+       template<typename T>
+        class quaternion
+        {
+        public:
+            
+            typedef T value_type;
+            
+            
+            // constructor for H seen as R^4
+            // (also default constructor)
+            
+            constexpr explicit            quaternion( T const & requested_a = T(),
+                                            T const & requested_b = T(),
+                                            T const & requested_c = T(),
+                                            T const & requested_d = T())
+            :   a(requested_a),
+                b(requested_b),
+                c(requested_c),
+                d(requested_d)
+            {
+                // nothing to do!
+            }
+            
+            
+            // constructor for H seen as C^2
+                
+            constexpr explicit            quaternion( ::std::complex<T> const & z0,
+                                            ::std::complex<T> const & z1 = ::std::complex<T>())
+            :   a(z0.real()),
+                b(z0.imag()),
+                c(z1.real()),
+                d(z1.imag())
+            {
+                // nothing to do!
+            }
+            
+            
+            // UNtemplated copy constructor
+            constexpr quaternion(quaternion const & a_recopier)
+               : a(a_recopier.R_component_1()),
+               b(a_recopier.R_component_2()),
+               c(a_recopier.R_component_3()),
+               d(a_recopier.R_component_4()) {}
+
+            constexpr quaternion(quaternion && a_recopier)
+               : a(std::move(a_recopier.R_component_1())),
+               b(std::move(a_recopier.R_component_2())),
+               c(std::move(a_recopier.R_component_3())),
+               d(std::move(a_recopier.R_component_4())) {}
+            
+            // templated copy constructor
+            
+            template<typename X>
+            constexpr explicit            quaternion(quaternion<X> const & a_recopier)
+            :   a(static_cast<T>(a_recopier.R_component_1())),
+                b(static_cast<T>(a_recopier.R_component_2())),
+                c(static_cast<T>(a_recopier.R_component_3())),
+                d(static_cast<T>(a_recopier.R_component_4()))
+            {
+                // nothing to do!
+            }
+            
+            
+            // destructor
+            // (this is taken care of by the compiler itself)
+            
+            
+            // accessors
+            //
+            // Note:    Like complex number, quaternions do have a meaningful notion of "real part",
+            //            but unlike them there is no meaningful notion of "imaginary part".
+            //            Instead there is an "unreal part" which itself is a quaternion, and usually
+            //            nothing simpler (as opposed to the complex number case).
+            //            However, for practicality, there are accessors for the other components
+            //            (these are necessary for the templated copy constructor, for instance).
+            
+            constexpr T real() const
+            {
+               return(a);
+            }
+
+            constexpr quaternion<T> unreal() const
+            {
+               return(quaternion<T>(static_cast<T>(0), b, c, d));
+            }
+
+            constexpr T R_component_1() const
+            {
+               return(a);
+            }
+
+            constexpr T R_component_2() const
+            {
+               return(b);
+            }
+
+            constexpr T R_component_3() const
+            {
+               return(c);
+            }
+
+            constexpr T R_component_4() const
+            {
+               return(d);
+            }
+
+            constexpr ::std::complex<T> C_component_1() const
+            {
+               return(::std::complex<T>(a, b));
+            }
+
+            constexpr ::std::complex<T> C_component_2() const
+            {
+               return(::std::complex<T>(c, d));
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR void swap(quaternion& o)
+            {
+#ifndef BOOST_MATH_NO_CXX14_CONSTEXPR
+               using constexpr_detail::swap;
+#else
+               using std::swap;
+#endif
+               swap(a, o.a);
+               swap(b, o.b);
+               swap(c, o.c);
+               swap(d, o.d);
+            }
+
+            // assignment operators
+            
+            template<typename X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator = (quaternion<X> const  & a_affecter)
+            {
+               a = static_cast<T>(a_affecter.R_component_1());
+               b = static_cast<T>(a_affecter.R_component_2());
+               c = static_cast<T>(a_affecter.R_component_3());
+               d = static_cast<T>(a_affecter.R_component_4());
+
+               return(*this);
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator = (quaternion<T> const & a_affecter)
+            {
+               a = a_affecter.a;
+               b = a_affecter.b;
+               c = a_affecter.c;
+               d = a_affecter.d;
+
+               return(*this);
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator = (quaternion<T> && a_affecter)
+            {
+               a = std::move(a_affecter.a);
+               b = std::move(a_affecter.b);
+               c = std::move(a_affecter.c);
+               d = std::move(a_affecter.d);
+
+               return(*this);
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator = (T const & a_affecter)
+            {
+               a = a_affecter;
+
+               b = c = d = static_cast<T>(0);
+
+               return(*this);
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator = (::std::complex<T> const & a_affecter)
+            {
+               a = a_affecter.real();
+               b = a_affecter.imag();
+
+               c = d = static_cast<T>(0);
+
+               return(*this);
+            }
+
+            // other assignment-related operators
+            //
+            // NOTE:    Quaternion multiplication is *NOT* commutative;
+            //            symbolically, "q *= rhs;" means "q = q * rhs;"
+            //            and "q /= rhs;" means "q = q * inverse_of(rhs);"
+            //
+            // Note2:   Each operator comes in 2 forms - one for the simple case where
+            //          type T throws no exceptions, and one exception-safe version
+            //          for the case where it might.
+         private:
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_add(T const & rhs, const std::true_type&)
+            {
+               a += rhs;
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_add(T const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a + rhs, b, c, d); // exception guard
+               swap(result);
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_add(std::complex<T> const & rhs, const std::true_type&)
+            {
+               a += std::real(rhs);
+               b += std::imag(rhs);
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_add(std::complex<T> const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a + std::real(rhs), b + std::imag(rhs), c, d); // exception guard
+               swap(result);
+               return *this;
+            }
+            template <class X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_add(quaternion<X> const & rhs, const std::true_type&)
+            {
+               a += rhs.R_component_1();
+               b += rhs.R_component_2();
+               c += rhs.R_component_3();
+               d += rhs.R_component_4();
+               return *this;
+            }
+            template <class X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_add(quaternion<X> const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a + rhs.R_component_1(), b + rhs.R_component_2(), c + rhs.R_component_3(), d + rhs.R_component_4()); // exception guard
+               swap(result);
+               return *this;
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_subtract(T const & rhs, const std::true_type&)
+            {
+               a -= rhs;
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_subtract(T const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a - rhs, b, c, d); // exception guard
+               swap(result);
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_subtract(std::complex<T> const & rhs, const std::true_type&)
+            {
+               a -= std::real(rhs);
+               b -= std::imag(rhs);
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_subtract(std::complex<T> const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a - std::real(rhs), b - std::imag(rhs), c, d); // exception guard
+               swap(result);
+               return *this;
+            }
+            template <class X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_subtract(quaternion<X> const & rhs, const std::true_type&)
+            {
+               a -= rhs.R_component_1();
+               b -= rhs.R_component_2();
+               c -= rhs.R_component_3();
+               d -= rhs.R_component_4();
+               return *this;
+            }
+            template <class X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_subtract(quaternion<X> const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a - rhs.R_component_1(), b - rhs.R_component_2(), c - rhs.R_component_3(), d - rhs.R_component_4()); // exception guard
+               swap(result);
+               return *this;
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_multiply(T const & rhs, const std::true_type&)
+            {
+               a *= rhs;
+               b *= rhs;
+               c *= rhs;
+               d *= rhs;
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_multiply(T const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a * rhs, b * rhs, c * rhs, d * rhs); // exception guard
+               swap(result);
+               return *this;
+            }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_divide(T const & rhs, const std::true_type&)
+            {
+               a /= rhs;
+               b /= rhs;
+               c /= rhs;
+               d /= rhs;
+               return *this;
+            }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        do_divide(T const & rhs, const std::false_type&)
+            {
+               quaternion<T> result(a / rhs, b / rhs, c / rhs, d / rhs); // exception guard
+               swap(result);
+               return *this;
+            }
+         public:
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator += (T const & rhs) { return do_add(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator += (::std::complex<T> const & rhs) { return do_add(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            template<typename X> BOOST_MATH_CXX14_CONSTEXPR quaternion<T> & operator += (quaternion<X> const & rhs) { return do_add(rhs, detail::is_trivial_arithmetic_type<T>()); }
+
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator -= (T const & rhs) { return do_subtract(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator -= (::std::complex<T> const & rhs) { return do_subtract(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            template<typename X> BOOST_MATH_CXX14_CONSTEXPR quaternion<T> & operator -= (quaternion<X> const & rhs) { return do_subtract(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator *= (T const & rhs) { return do_multiply(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator *= (::std::complex<T> const & rhs)
+            {
+                T    ar = rhs.real();
+                T    br = rhs.imag();
+                quaternion<T> result(a*ar - b*br, a*br + b*ar, c*ar + d*br, -c*br+d*ar);
+                swap(result);
+                return(*this);
+            }
+            
+            template<typename X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator *= (quaternion<X> const & rhs)
+            {
+                T    ar = static_cast<T>(rhs.R_component_1());
+                T    br = static_cast<T>(rhs.R_component_2());
+                T    cr = static_cast<T>(rhs.R_component_3());
+                T    dr = static_cast<T>(rhs.R_component_4());
+                
+                quaternion<T> result(a*ar - b*br - c*cr - d*dr, a*br + b*ar + c*dr - d*cr, a*cr - b*dr + c*ar + d*br, a*dr + b*cr - c*br + d*ar);
+                swap(result);
+                return(*this);
+            }
+            
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator /= (T const & rhs) { return do_divide(rhs, detail::is_trivial_arithmetic_type<T>()); }
+            
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator /= (::std::complex<T> const & rhs)
+            {
+                T    ar = rhs.real();
+                T    br = rhs.imag();
+                T    denominator = ar*ar+br*br;
+                quaternion<T> result((+a*ar + b*br) / denominator, (-a*br + b*ar) / denominator, (+c*ar - d*br) / denominator, (+c*br + d*ar) / denominator);
+                swap(result);
+                return(*this);
+            }
+            
+            template<typename X>
+            BOOST_MATH_CXX14_CONSTEXPR quaternion<T> &        operator /= (quaternion<X> const & rhs)
+            {
+                T    ar = static_cast<T>(rhs.R_component_1());
+                T    br = static_cast<T>(rhs.R_component_2());
+                T    cr = static_cast<T>(rhs.R_component_3());
+                T    dr = static_cast<T>(rhs.R_component_4());
+                
+                T    denominator = ar*ar+br*br+cr*cr+dr*dr;
+                quaternion<T> result((+a*ar+b*br+c*cr+d*dr)/denominator, (-a*br+b*ar-c*dr+d*cr)/denominator, (-a*cr+b*dr+c*ar-d*br)/denominator, (-a*dr-b*cr+c*br+d*ar)/denominator);
+                swap(result);
+                return(*this);
+            }
+        private:
+           T a, b, c, d;
+            
+        };
+
+// swap:
+template <class T>
+BOOST_MATH_CXX14_CONSTEXPR void swap(quaternion<T>& a, quaternion<T>& b) { a.swap(b); }
+        
+// operator+
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator + (const quaternion<T1>& a, const T2& b)
+{
+   return quaternion<T1>(static_cast<T1>(a.R_component_1() + b), a.R_component_2(), a.R_component_3(), a.R_component_4());
+}
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator + (const T1& a, const quaternion<T2>& b)
+{
+   return quaternion<T2>(static_cast<T2>(b.R_component_1() + a), b.R_component_2(), b.R_component_3(), b.R_component_4());
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator + (const quaternion<T1>& a, const std::complex<T2>& b)
+{
+   return quaternion<T1>(a.R_component_1() + std::real(b), a.R_component_2() + std::imag(b), a.R_component_3(), a.R_component_4());
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator + (const std::complex<T1>& a, const quaternion<T2>& b)
+{
+   return quaternion<T1>(b.R_component_1() + std::real(a), b.R_component_2() + std::imag(a), b.R_component_3(), b.R_component_4());
+}
+template <class T>
+inline constexpr quaternion<T> operator + (const quaternion<T>& a, const quaternion<T>& b)
+{
+   return quaternion<T>(a.R_component_1() + b.R_component_1(), a.R_component_2() + b.R_component_2(), a.R_component_3() + b.R_component_3(), a.R_component_4() + b.R_component_4());
+}
+// operator-
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator - (const quaternion<T1>& a, const T2& b)
+{
+   return quaternion<T1>(static_cast<T1>(a.R_component_1() - b), a.R_component_2(), a.R_component_3(), a.R_component_4());
+}
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator - (const T1& a, const quaternion<T2>& b)
+{
+   return quaternion<T2>(static_cast<T2>(a - b.R_component_1()), -b.R_component_2(), -b.R_component_3(), -b.R_component_4());
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator - (const quaternion<T1>& a, const std::complex<T2>& b)
+{
+   return quaternion<T1>(a.R_component_1() - std::real(b), a.R_component_2() - std::imag(b), a.R_component_3(), a.R_component_4());
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator - (const std::complex<T1>& a, const quaternion<T2>& b)
+{
+   return quaternion<T1>(std::real(a) - b.R_component_1(), std::imag(a) - b.R_component_2(), -b.R_component_3(), -b.R_component_4());
+}
+template <class T>
+inline constexpr quaternion<T> operator - (const quaternion<T>& a, const quaternion<T>& b)
+{
+   return quaternion<T>(a.R_component_1() - b.R_component_1(), a.R_component_2() - b.R_component_2(), a.R_component_3() - b.R_component_3(), a.R_component_4() - b.R_component_4());
+}
+
+// operator*
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator * (const quaternion<T1>& a, const T2& b)
+{
+   return quaternion<T1>(static_cast<T1>(a.R_component_1() * b), a.R_component_2() * b, a.R_component_3() * b, a.R_component_4() * b);
+}
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator * (const T1& a, const quaternion<T2>& b)
+{
+   return quaternion<T2>(static_cast<T2>(a * b.R_component_1()), a * b.R_component_2(), a * b.R_component_3(), a * b.R_component_4());
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator * (const quaternion<T1>& a, const std::complex<T2>& b)
+{
+   quaternion<T1> result(a);
+   result *= b;
+   return result;
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator * (const std::complex<T1>& a, const quaternion<T2>& b)
+{
+   quaternion<T1> result(a);
+   result *= b;
+   return result;
+}
+template <class T>
+inline BOOST_MATH_CXX14_CONSTEXPR quaternion<T> operator * (const quaternion<T>& a, const quaternion<T>& b)
+{
+   quaternion<T> result(a);
+   result *= b;
+   return result;
+}
+
+// operator/
+template <class T1, class T2>
+inline constexpr typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator / (const quaternion<T1>& a, const T2& b)
+{
+   return quaternion<T1>(a.R_component_1() / b, a.R_component_2() / b, a.R_component_3() / b, a.R_component_4() / b);
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator / (const T1& a, const quaternion<T2>& b)
+{
+   quaternion<T2> result(a);
+   result /= b;
+   return result;
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T2, T1>::value, quaternion<T1> >::type
+operator / (const quaternion<T1>& a, const std::complex<T2>& b)
+{
+   quaternion<T1> result(a);
+   result /= b;
+   return result;
+}
+template <class T1, class T2>
+inline BOOST_MATH_CXX14_CONSTEXPR typename std::enable_if<std::is_convertible<T1, T2>::value, quaternion<T2> >::type
+operator / (const std::complex<T1>& a, const quaternion<T2>& b)
+{
+   quaternion<T2> result(a);
+   result /= b;
+   return result;
+}
+template <class T>
+inline BOOST_MATH_CXX14_CONSTEXPR quaternion<T> operator / (const quaternion<T>& a, const quaternion<T>& b)
+{
+   quaternion<T> result(a);
+   result /= b;
+   return result;
+}
+        
+        
+        template<typename T>
+        inline constexpr const quaternion<T>&             operator + (quaternion<T> const & q)
+        {
+            return q;
+        }
+        
+        
+        template<typename T>
+        inline constexpr quaternion<T>                    operator - (quaternion<T> const & q)
+        {
+            return(quaternion<T>(-q.R_component_1(),-q.R_component_2(),-q.R_component_3(),-q.R_component_4()));
+        }
+        
+        
+        template<typename R, typename T>
+        inline constexpr typename std::enable_if<std::is_convertible<R, T>::value, bool>::type operator == (R const & lhs, quaternion<T> const & rhs)
+        {
+            return    (
+                        (rhs.R_component_1() == lhs)&&
+                        (rhs.R_component_2() == static_cast<T>(0))&&
+                        (rhs.R_component_3() == static_cast<T>(0))&&
+                        (rhs.R_component_4() == static_cast<T>(0))
+                    );
+        }
+        
+        
+        template<typename T, typename R>
+        inline constexpr typename std::enable_if<std::is_convertible<R, T>::value, bool>::type operator == (quaternion<T> const & lhs, R const & rhs)
+        {
+           return rhs == lhs;
+        }
+        
+        
+        template<typename T>
+        inline constexpr bool                                operator == (::std::complex<T> const & lhs, quaternion<T> const & rhs)
+        {
+            return    (
+                        (rhs.R_component_1() == lhs.real())&&
+                        (rhs.R_component_2() == lhs.imag())&&
+                        (rhs.R_component_3() == static_cast<T>(0))&&
+                        (rhs.R_component_4() == static_cast<T>(0))
+                    );
+        }
+        
+        
+        template<typename T>
+        inline constexpr bool                                operator == (quaternion<T> const & lhs, ::std::complex<T> const & rhs)
+        {
+           return rhs == lhs;
+        }
+        
+        
+        template<typename T>
+        inline constexpr bool                                operator == (quaternion<T> const & lhs, quaternion<T> const & rhs)
+        {
+            return    (
+                        (rhs.R_component_1() == lhs.R_component_1())&&
+                        (rhs.R_component_2() == lhs.R_component_2())&&
+                        (rhs.R_component_3() == lhs.R_component_3())&&
+                        (rhs.R_component_4() == lhs.R_component_4())
+                    );
+        }
+                
+        template<typename R, typename T> inline constexpr bool operator != (R const & lhs, quaternion<T> const & rhs) { return !(lhs == rhs); }
+        template<typename T, typename R> inline constexpr bool operator != (quaternion<T> const & lhs, R const & rhs) { return !(lhs == rhs); }
+        template<typename T> inline constexpr bool operator != (::std::complex<T> const & lhs, quaternion<T> const & rhs) { return !(lhs == rhs); }
+        template<typename T> inline constexpr bool operator != (quaternion<T> const & lhs, ::std::complex<T> const & rhs) { return !(lhs == rhs); }
+        template<typename T> inline constexpr bool operator != (quaternion<T> const & lhs, quaternion<T> const & rhs) { return !(lhs == rhs); }
+        
+        
+        // Note:    we allow the following formats, with a, b, c, and d reals
+        //            a
+        //            (a), (a,b), (a,b,c), (a,b,c,d)
+        //            (a,(c)), (a,(c,d)), ((a)), ((a),c), ((a),(c)), ((a),(c,d)), ((a,b)), ((a,b),c), ((a,b),(c)), ((a,b),(c,d))
+        template<typename T, typename charT, class traits>
+        ::std::basic_istream<charT,traits> &    operator >> (    ::std::basic_istream<charT,traits> & is,
+                                                                quaternion<T> & q)
+        {
+            const ::std::ctype<charT> & ct = ::std::use_facet< ::std::ctype<charT> >(is.getloc());
+            
+            T    a = T();
+            T    b = T();
+            T    c = T();
+            T    d = T();
+            
+            ::std::complex<T>    u = ::std::complex<T>();
+            ::std::complex<T>    v = ::std::complex<T>();
+            
+            charT    ch = charT();
+            char    cc;
+            
+            is >> ch;                                        // get the first lexeme
+            
+            if    (!is.good())    goto finish;
+            
+            cc = ct.narrow(ch, char());
+            
+            if    (cc == '(')                            // read "(", possible: (a), (a,b), (a,b,c), (a,b,c,d), (a,(c)), (a,(c,d)), ((a)), ((a),c), ((a),(c)), ((a),(c,d)), ((a,b)), ((a,b),c), ((a,b),(c)), ((a,b,),(c,d,))
+            {
+                is >> ch;                                    // get the second lexeme
+                
+                if    (!is.good())    goto finish;
+                
+                cc = ct.narrow(ch, char());
+                
+                if    (cc == '(')                        // read "((", possible: ((a)), ((a),c), ((a),(c)), ((a),(c,d)), ((a,b)), ((a,b),c), ((a,b),(c)), ((a,b,),(c,d,))
+                {
+                    is.putback(ch);
+                    
+                    is >> u;                                // we extract the first and second components
+                    a = u.real();
+                    b = u.imag();
+                    
+                    if    (!is.good())    goto finish;
+                    
+                    is >> ch;                                // get the next lexeme
+                    
+                    if    (!is.good())    goto finish;
+                    
+                    cc = ct.narrow(ch, char());
+                    
+                    if        (cc == ')')                    // format: ((a)) or ((a,b))
+                    {
+                        q = quaternion<T>(a,b);
+                    }
+                    else if    (cc == ',')                // read "((a)," or "((a,b),", possible: ((a),c), ((a),(c)), ((a),(c,d)), ((a,b),c), ((a,b),(c)), ((a,b,),(c,d,))
+                    {
+                        is >> v;                            // we extract the third and fourth components
+                        c = v.real();
+                        d = v.imag();
+                        
+                        if    (!is.good())    goto finish;
+                        
+                        is >> ch;                                // get the last lexeme
+                        
+                        if    (!is.good())    goto finish;
+                        
+                        cc = ct.narrow(ch, char());
+                        
+                        if    (cc == ')')                    // format: ((a),c), ((a),(c)), ((a),(c,d)), ((a,b),c), ((a,b),(c)) or ((a,b,),(c,d,))
+                        {
+                            q = quaternion<T>(a,b,c,d);
+                        }
+                        else                            // error
+                        {
+                            is.setstate(::std::ios_base::failbit);
+                        }
+                    }
+                    else                                // error
+                    {
+                        is.setstate(::std::ios_base::failbit);
+                    }
+                }
+                else                                // read "(a", possible: (a), (a,b), (a,b,c), (a,b,c,d), (a,(c)), (a,(c,d))
+                {
+                    is.putback(ch);
+                    
+                    is >> a;                                // we extract the first component
+                    
+                    if    (!is.good())    goto finish;
+                    
+                    is >> ch;                                // get the third lexeme
+                    
+                    if    (!is.good())    goto finish;
+                    
+                    cc = ct.narrow(ch, char());
+                    
+                    if        (cc == ')')                    // format: (a)
+                    {
+                        q = quaternion<T>(a);
+                    }
+                    else if    (cc == ',')                // read "(a,", possible: (a,b), (a,b,c), (a,b,c,d), (a,(c)), (a,(c,d))
+                    {
+                        is >> ch;                            // get the fourth lexeme
+                        
+                        if    (!is.good())    goto finish;
+                        
+                        cc = ct.narrow(ch, char());
+                        
+                        if    (cc == '(')                // read "(a,(", possible: (a,(c)), (a,(c,d))
+                        {
+                            is.putback(ch);
+                            
+                            is >> v;                        // we extract the third and fourth component
+                            
+                            c = v.real();
+                            d = v.imag();
+                            
+                            if    (!is.good())    goto finish;
+                            
+                            is >> ch;                        // get the ninth lexeme
+                            
+                            if    (!is.good())    goto finish;
+                            
+                            cc = ct.narrow(ch, char());
+                            
+                            if    (cc == ')')                // format: (a,(c)) or (a,(c,d))
+                            {
+                                q = quaternion<T>(a,b,c,d);
+                            }
+                            else                        // error
+                            {
+                                is.setstate(::std::ios_base::failbit);
+                            }
+                        }
+                        else                        // read "(a,b", possible: (a,b), (a,b,c), (a,b,c,d)
+                        {
+                            is.putback(ch);
+                            
+                            is >> b;                        // we extract the second component
+                            
+                            if    (!is.good())    goto finish;
+                            
+                            is >> ch;                        // get the fifth lexeme
+                            
+                            if    (!is.good())    goto finish;
+                            
+                            cc = ct.narrow(ch, char());
+                            
+                            if    (cc == ')')                // format: (a,b)
+                            {
+                                q = quaternion<T>(a,b);
+                            }
+                            else if    (cc == ',')        // read "(a,b,", possible: (a,b,c), (a,b,c,d)
+                            {
+                                is >> c;                    // we extract the third component
+                                
+                                if    (!is.good())    goto finish;
+                                
+                                is >> ch;                    // get the seventh lexeme
+                                
+                                if    (!is.good())    goto finish;
+                                
+                                cc = ct.narrow(ch, char());
+                                
+                                if        (cc == ')')        // format: (a,b,c)
+                                {
+                                    q = quaternion<T>(a,b,c);
+                                }
+                                else if    (cc == ',')    // read "(a,b,c,", possible: (a,b,c,d)
+                                {
+                                    is >> d;                // we extract the fourth component
+                                    
+                                    if    (!is.good())    goto finish;
+                                    
+                                    is >> ch;                // get the ninth lexeme
+                                    
+                                    if    (!is.good())    goto finish;
+                                    
+                                    cc = ct.narrow(ch, char());
+                                    
+                                    if    (cc == ')')        // format: (a,b,c,d)
+                                    {
+                                        q = quaternion<T>(a,b,c,d);
+                                    }
+                                    else                // error
+                                    {
+                                        is.setstate(::std::ios_base::failbit);
+                                    }
+                                }
+                                else                    // error
+                                {
+                                    is.setstate(::std::ios_base::failbit);
+                                }
+                            }
+                            else                        // error
+                            {
+                                is.setstate(::std::ios_base::failbit);
+                            }
+                        }
+                    }
+                    else                                // error
+                    {
+                        is.setstate(::std::ios_base::failbit);
+                    }
+                }
+            }
+            else                                        // format:    a
+            {
+                is.putback(ch);
+                
+                is >> a;                                    // we extract the first component
+                
+                if    (!is.good())    goto finish;
+                
+                q = quaternion<T>(a);
+            }
+            
+            finish:
+            return(is);
+        }
+        
+        
+        template<typename T, typename charT, class traits>
+        ::std::basic_ostream<charT,traits> &    operator << (    ::std::basic_ostream<charT,traits> & os,
+                                                                quaternion<T> const & q)
+        {
+            ::std::basic_ostringstream<charT,traits>    s;
+
+            s.flags(os.flags());
+            s.imbue(os.getloc());
+            s.precision(os.precision());
+            
+            s << '('    << q.R_component_1() << ','
+                        << q.R_component_2() << ','
+                        << q.R_component_3() << ','
+                        << q.R_component_4() << ')';
+            
+            return os << s.str();
+        }
+        
+        
+        // values
+        
+        template<typename T>
+        inline constexpr T real(quaternion<T> const & q)
+        {
+            return(q.real());
+        }
+        
+        
+        template<typename T>
+        inline constexpr quaternion<T> unreal(quaternion<T> const & q)
+        {
+            return(q.unreal());
+        }
+                
+        template<typename T>
+        inline T sup(quaternion<T> const & q)
+        {
+            using    ::std::abs;
+            return (std::max)((std::max)(abs(q.R_component_1()), abs(q.R_component_2())), (std::max)(abs(q.R_component_3()), abs(q.R_component_4())));
+        }
+        
+        
+        template<typename T>
+        inline T l1(quaternion<T> const & q)
+        {
+           using    ::std::abs;
+           return abs(q.R_component_1()) + abs(q.R_component_2()) + abs(q.R_component_3()) + abs(q.R_component_4());
+        }
+        
+        
+        template<typename T>
+        inline T abs(quaternion<T> const & q)
+        {
+            using    ::std::abs;
+            using    ::std::sqrt;
+            
+            T            maxim = sup(q);    // overflow protection
+            
+            if    (maxim == static_cast<T>(0))
+            {
+                return(maxim);
+            }
+            else
+            {
+                T    mixam = static_cast<T>(1)/maxim;    // prefer multiplications over divisions
+                
+                T a = q.R_component_1() * mixam;
+                T b = q.R_component_2() * mixam;
+                T c = q.R_component_3() * mixam;
+                T d = q.R_component_4() * mixam;
+
+                a *= a;
+                b *= b;
+                c *= c;
+                d *= d;
+                
+                return(maxim * sqrt(a + b + c + d));
+            }
+            
+            //return(sqrt(norm(q)));
+        }
+        
+        
+        // Note:    This is the Cayley norm, not the Euclidean norm...
+        
+        template<typename T>
+        inline BOOST_MATH_CXX14_CONSTEXPR T norm(quaternion<T>const  & q)
+        {
+            return(real(q*conj(q)));
+        }
+        
+        
+        template<typename T>
+        inline constexpr quaternion<T> conj(quaternion<T> const & q)
+        {
+            return(quaternion<T>(   +q.R_component_1(),
+                                    -q.R_component_2(),
+                                    -q.R_component_3(),
+                                    -q.R_component_4()));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    spherical(  T const & rho,
+                                                            T const & theta,
+                                                            T const & phi1,
+                                                            T const & phi2)
+        {
+            using ::std::cos;
+            using ::std::sin;
+            
+            //T    a = cos(theta)*cos(phi1)*cos(phi2);
+            //T    b = sin(theta)*cos(phi1)*cos(phi2);
+            //T    c = sin(phi1)*cos(phi2);
+            //T    d = sin(phi2);
+            
+            T    courrant = static_cast<T>(1);
+            
+            T    d = sin(phi2);
+            
+            courrant *= cos(phi2);
+            
+            T    c = sin(phi1)*courrant;
+            
+            courrant *= cos(phi1);
+            
+            T    b = sin(theta)*courrant;
+            T    a = cos(theta)*courrant;
+            
+            return(rho*quaternion<T>(a,b,c,d));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    semipolar(  T const & rho,
+                                                            T const & alpha,
+                                                            T const & theta1,
+                                                            T const & theta2)
+        {
+            using ::std::cos;
+            using ::std::sin;
+            
+            T    a = cos(alpha)*cos(theta1);
+            T    b = cos(alpha)*sin(theta1);
+            T    c = sin(alpha)*cos(theta2);
+            T    d = sin(alpha)*sin(theta2);
+            
+            return(rho*quaternion<T>(a,b,c,d));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    multipolar( T const & rho1,
+                                                            T const & theta1,
+                                                            T const & rho2,
+                                                            T const & theta2)
+        {
+            using ::std::cos;
+            using ::std::sin;
+            
+            T    a = rho1*cos(theta1);
+            T    b = rho1*sin(theta1);
+            T    c = rho2*cos(theta2);
+            T    d = rho2*sin(theta2);
+            
+            return(quaternion<T>(a,b,c,d));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    cylindrospherical(  T const & t,
+                                                                    T const & radius,
+                                                                    T const & longitude,
+                                                                    T const & latitude)
+        {
+            using ::std::cos;
+            using ::std::sin;
+            
+            
+            
+            T    b = radius*cos(longitude)*cos(latitude);
+            T    c = radius*sin(longitude)*cos(latitude);
+            T    d = radius*sin(latitude);
+            
+            return(quaternion<T>(t,b,c,d));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    cylindrical(T const & r,
+                                                            T const & angle,
+                                                            T const & h1,
+                                                            T const & h2)
+        {
+            using ::std::cos;
+            using ::std::sin;
+            
+            T    a = r*cos(angle);
+            T    b = r*sin(angle);
+            
+            return(quaternion<T>(a,b,h1,h2));
+        }
+        
+        
+        // transcendentals
+        // (please see the documentation)
+        
+        
+        template<typename T>
+        inline quaternion<T>                    exp(quaternion<T> const & q)
+        {
+            using    ::std::exp;
+            using    ::std::cos;
+            
+            using    ::boost::math::sinc_pi;
+            
+            T    u = exp(real(q));
+            
+            T    z = abs(unreal(q));
+            
+            T    w = sinc_pi(z);
+            
+            return(u*quaternion<T>(cos(z),
+                w*q.R_component_2(), w*q.R_component_3(),
+                w*q.R_component_4()));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    cos(quaternion<T> const & q)
+        {
+            using    ::std::sin;
+            using    ::std::cos;
+            using    ::std::cosh;
+            
+            using    ::boost::math::sinhc_pi;
+            
+            T    z = abs(unreal(q));
+            
+            T    w = -sin(q.real())*sinhc_pi(z);
+            
+            return(quaternion<T>(cos(q.real())*cosh(z),
+                w*q.R_component_2(), w*q.R_component_3(),
+                w*q.R_component_4()));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    sin(quaternion<T> const & q)
+        {
+            using    ::std::sin;
+            using    ::std::cos;
+            using    ::std::cosh;
+            
+            using    ::boost::math::sinhc_pi;
+            
+            T    z = abs(unreal(q));
+            
+            T    w = +cos(q.real())*sinhc_pi(z);
+            
+            return(quaternion<T>(sin(q.real())*cosh(z),
+                w*q.R_component_2(), w*q.R_component_3(),
+                w*q.R_component_4()));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    tan(quaternion<T> const & q)
+        {
+            return(sin(q)/cos(q));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    cosh(quaternion<T> const & q)
+        {
+            return((exp(+q)+exp(-q))/static_cast<T>(2));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    sinh(quaternion<T> const & q)
+        {
+            return((exp(+q)-exp(-q))/static_cast<T>(2));
+        }
+        
+        
+        template<typename T>
+        inline quaternion<T>                    tanh(quaternion<T> const & q)
+        {
+            return(sinh(q)/cosh(q));
+        }
+        
+        
+        template<typename T>
+        quaternion<T>                            pow(quaternion<T> const & q,
+                                                    int n)
+        {
+            if        (n > 1)
+            {
+                int    m = n>>1;
+                
+                quaternion<T>    result = pow(q, m);
+                
+                result *= result;
+                
+                if    (n != (m<<1))
+                {
+                    result *= q; // n odd
+                }
+                
+                return(result);
+            }
+            else if    (n == 1)
+            {
+                return(q);
+            }
+            else if    (n == 0)
+            {
+                return(quaternion<T>(static_cast<T>(1)));
+            }
+            else    /* n < 0 */
+            {
+                return(pow(quaternion<T>(static_cast<T>(1))/q,-n));
+            }
+        }
+    }
+}
+
+#endif /* BOOST_QUATERNION_HPP */