Fixed rotation.h

1 files changed, 20 insertions, 9 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 1a4e705b..a1500969 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -10,7 +10,7 @@
 #include <cmath>

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

 class Rotation {

-	friend Rotation operator*(const Rotation& A, const Rotation& B);

+

 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); }

@@ -38,12 +38,30 @@ public:
 		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

 	}

 

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

+	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& A, const Rotation& B)

+	{

+		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);

+	}*/

+

+

+		 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

@@ -51,11 +69,4 @@ protected:
 

 

 

-Rotation operator*(const Rotation& A, const Rotation& B)

-{

-	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);

-}

 #endif //ROTATION_H