Run dos2unix on the tree. No user-facing changes.

1 files changed, 64 insertions, 64 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index dd70ca77..e97ec0f0 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -1,64 +1,64 @@
-/* Copyright (c) 2012 Patrick Ruoff

- *

- * Permission to use, copy, modify, and/or distribute this software for any

- * purpose with or without fee is hereby granted, provided that the above

- * copyright notice and this permission notice appear in all copies.

- */

-

-#ifndef ROTATION_H

-#define ROTATION_H

-#include <cmath>

-// ----------------------------------------------------------------------------

-class Rotation {

-

-public:

-	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}

-	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }

-	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}

-

-	Rotation inv(){	// inverse

-		return Rotation(a,-b,-c, -d);

-	}

-

-

-	// conversions

-	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

-	void fromEuler(double yaw, double pitch, double roll)

-	{

-

-		double sin_phi = sin(roll/2.0);

-		double cos_phi = cos(roll/2.0);

-		double sin_the = sin(pitch/2.0);

-		double cos_the = cos(pitch/2.0);

-		double sin_psi = sin(yaw/2.0);

-		double cos_psi = cos(yaw/2.0);

-

-		a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;

-		b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;

-		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;

-		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

-	}

-    

-    void toEuler(double& yaw, double& pitch, double& roll)

-    {

-        roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));

-        pitch = asin(2.0*(a*c - b*d));

-        yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));

-    }

-    

-    const Rotation operator*(const Rotation& B)

-    {

-        const Rotation& A = *this;

-        return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

-                        A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

-                        A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

-                        A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

-    }

-

-protected:

-	double a,b,c,d; // quaternion coefficients

-};

-

-

-

-#endif //ROTATION_H

+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#ifndef ROTATION_H
+#define ROTATION_H
+#include <cmath>
+// ----------------------------------------------------------------------------
+class Rotation {
+
+public:
+	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}
+	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
+	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
+
+	Rotation inv(){	// inverse
+		return Rotation(a,-b,-c, -d);
+	}
+
+
+	// conversions
+	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+	void fromEuler(double yaw, double pitch, double roll)
+	{
+
+		double sin_phi = sin(roll/2.0);
+		double cos_phi = cos(roll/2.0);
+		double sin_the = sin(pitch/2.0);
+		double cos_the = cos(pitch/2.0);
+		double sin_psi = sin(yaw/2.0);
+		double cos_psi = cos(yaw/2.0);
+
+		a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+		b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+	}
+    
+    void toEuler(double& yaw, double& pitch, double& roll)
+    {
+        roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
+        pitch = asin(2.0*(a*c - b*d));
+        yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+    }
+    
+    const Rotation operator*(const Rotation& B)
+    {
+        const Rotation& A = *this;
+        return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
+                        A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+                        A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+                        A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+    }
+
+protected:
+	double a,b,c,d; // quaternion coefficients
+};
+
+
+
+#endif //ROTATION_H