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authorStanislaw Halik <sthalik@misaki.pl>2018-03-03 12:58:02 +0100
committerStanislaw Halik <sthalik@misaki.pl>2018-03-03 13:06:02 +0100
commit3da5f01888cd1c7e8a646895b7633e1d0c326e4e (patch)
treebdfef458e179c2f0f9a65e0c8c62f542ecb9746e /compat
parent7072e072f4bb8388b40d6599a2a509d84d41a51d (diff)
compat/euler: remove unused functions
Diffstat (limited to 'compat')
-rw-r--r--compat/euler.cpp59
-rw-r--r--compat/euler.hpp10
2 files changed, 0 insertions, 69 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp
index 7c753214..44b34f90 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -52,63 +52,4 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
};
}
-// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
-void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
- rmat& r_roll,
- rmat& r_pitch,
- rmat& r_yaw)
-{
- {
- const double phi = -input(2);
- const double sin_phi = sin(phi);
- const double cos_phi = cos(phi);
-
- r_roll = {
- 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 = {
- 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 = {
- cos_psi, -sin_psi, 0,
- sin_psi, cos_psi, 0,
- 0, 0, 1
- };
- }
-}
-
-template<int H, int W, typename f = double>
-rmat quaternion_to_mat_(const Mat<f, H, W>& q)
-{
- const double w = q.w(), x = q.x(), y = q.y(), z = q.z();
- const double ww = w*w, xx = x*x, yy = y*y, zz = z*z;
-
- return rmat(
- ww + xx - yy - zz, 2 * (x*y - w*z), 2 * (x*z + w*y),
- 2 * (x*z - w*y), 2 * (y*z + w*x), ww - xx - yy + zz,
- 2 * (x*y + w*z), ww - xx + yy - zz, 2 * (y*z - w*x)
- );
-}
-
-rmat OTR_COMPAT_EXPORT quaternion_to_mat(const dmat<1, 4>& q) { return quaternion_to_mat_(q); }
-//rmat OTR_COMPAT_EXPORT quaternion_to_mat(const dmat<4, 1>& q) { return quaternion_to_mat_(q); }
-
} // end ns euler
diff --git a/compat/euler.hpp b/compat/euler.hpp
index a4c58ffb..d4217a70 100644
--- a/compat/euler.hpp
+++ b/compat/euler.hpp
@@ -14,22 +14,12 @@ namespace euler {
template<int h_, int w_> using dmat = Mat<double, h_, w_>;
-using dvec2 = Mat<double, 2, 1>;
using dvec3 = Mat<double, 3, 1>;
using rmat = dmat<3, 3>;
using euler_t = dmat<3, 1>;
rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input);
-
euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R);
-void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
- rmat& r_roll,
- rmat& r_pitch,
- rmat& r_yaw);
-
-rmat OTR_COMPAT_EXPORT quaternion_to_mat(const dmat<1, 4>& q);
-//rmat OTR_COMPAT_EXPORT quaternion_to_mat(const dmat<4, 1>& q);
-
} // end ns euler