quat class rot in hell again

Issue: #63

1 files changed, 0 insertions, 71 deletions

diff --git a/opentrack/quat.hpp b/opentrack/quat.hpp
deleted file mode 100644
index e5e74df4..00000000
--- a/opentrack/quat.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/* 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.
- */
-
-#pragma once
-#include <cmath>
-
-class Quat {
-private:
-    static constexpr double pi = 3.141592653;
-    static constexpr double r2d = 180./pi;
-    double a,b,c,d; // quaternion coefficients
-public:
-    Quat() : a(1.),b(0.),c(0.),d(0.) {}
-    Quat(double yaw, double pitch, double roll) { *this = from_euler_rads(yaw, pitch, roll); }
-    Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
-
-    Quat inv() const
-    {
-        return Quat(a,-b,-c, -d);
-    }
-
-    // conversions
-    // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-    static Quat from_euler_rads(double yaw, double pitch, double roll)
-    {
-
-        const double sin_phi = sin(roll/2.);
-        const double cos_phi = cos(roll/2.);
-        const double sin_the = sin(pitch/2.);
-        const double cos_the = cos(pitch/2.);
-        const double sin_psi = sin(yaw/2.);
-        const double cos_psi = cos(yaw/2.);
-
-        Quat q;
-
-        q.a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
-        q.b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
-        q.c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
-        q.d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
-
-        return q;
-    }
-
-    void to_euler_rads(double& yaw, double& pitch, double& roll) const
-    {
-        roll = atan2(2.*(a*b + c*d), 1. - 2.*(b*b + c*c));
-        pitch = asin(2.*(a*c - b*d));
-        yaw =  atan2(2.*(a*d + b*c), 1. - 2.*(c*c + d*d));
-    }
-
-    void to_euler_degrees(double& yaw, double& pitch, double& roll) const
-    {
-        to_euler_rads(yaw, pitch, roll);
-        yaw *= r2d;
-        pitch *= r2d;
-        roll *= r2d;
-    }
-
-    const Quat operator*(const Quat& B) const
-    {
-        const Quat& A = *this;
-        return Quat(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);
-    }
-};