summaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
-rw-r--r--opentrack-logic/simple-mat.cpp42
-rw-r--r--opentrack-logic/simple-mat.hpp8
2 files changed, 47 insertions, 3 deletions
diff --git a/opentrack-logic/simple-mat.cpp b/opentrack-logic/simple-mat.cpp
index 1aaeb296..8c97f192 100644
--- a/opentrack-logic/simple-mat.cpp
+++ b/opentrack-logic/simple-mat.cpp
@@ -4,7 +4,7 @@
namespace euler {
-euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const dmat<3, 3>& R)
+euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R)
{
using std::atan2;
using std::sqrt;
@@ -54,4 +54,44 @@ rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input)
);
}
+// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
+void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input,
+ rmat& r_roll,
+ rmat& r_pitch,
+ rmat& r_yaw)
+{
+ using std::cos;
+ using std::sin;
+
+ {
+ const double phi = -input(2);
+ const double sin_phi = sin(phi);
+ const double cos_phi = cos(phi);
+
+ r_roll = rmat(1, 0, 0,
+ 0, cos_phi, -sin_phi,
+ 0, sin_phi, cos_phi);
+ }
+
+ {
+ const double theta = -input(1);
+ const double sin_theta = sin(theta);
+ const double cos_theta = cos(theta);
+
+ r_pitch = rmat(cos_theta, 0, -sin_theta,
+ 0, 1, 0,
+ sin_theta, 0, cos_theta);
+ }
+
+ {
+ const double psi = -input(0);
+ const double sin_psi = sin(psi);
+ const double cos_psi = cos(psi);
+
+ r_yaw = rmat(cos_psi, -sin_psi, 0,
+ sin_psi, cos_psi, 0,
+ 0, 0, 1);
+ }
+}
+
} // end ns euler
diff --git a/opentrack-logic/simple-mat.hpp b/opentrack-logic/simple-mat.hpp
index 09de6004..514e845f 100644
--- a/opentrack-logic/simple-mat.hpp
+++ b/opentrack-logic/simple-mat.hpp
@@ -269,7 +269,11 @@ using euler_t = dmat<3, 1>;
rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input);
-// http://stackoverflow.com/a/18436193
-euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const dmat<3, 3>& R);
+euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R);
+
+void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input,
+ rmat& r_roll,
+ rmat& r_pitch,
+ rmat& r_yaw);
} // end ns euler