diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2013-03-22 20:48:17 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2013-03-22 20:48:17 +0100 |
| commit | 3089c4bbc10e98d18f43e8a70e7a3d0c0eaf0900 (patch) | |
| tree | c6f985472c05372417ecd4a861f6c2f346b63fd3 /facetracknoir/rotation.h | |
| parent | 3e1515e88c6f750c193ed9b9908d8a9c09e5b025 (diff) | |
Downcase. PLEASE TURN OFF IGNORING CASE IN GIT CONFIG!!!
.git/config:
[core]
ignorecase = false
Diffstat (limited to 'facetracknoir/rotation.h')
| -rw-r--r-- | facetracknoir/rotation.h | 31 |
1 files changed, 31 insertions, 0 deletions
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h new file mode 100644 index 00000000..967d6661 --- /dev/null +++ b/facetracknoir/rotation.h @@ -0,0 +1,31 @@ +/* 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
+
+// ----------------------------------------------------------------------------
+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); }
+ Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
+
+ Rotation inv(); // inverse
+
+ // conversions
+ void fromEuler(double yaw, double pitch, double roll);
+ void toEuler(double& yaw, double& pitch, double& roll);
+
+protected:
+ double a,b,c,d; // quaternion coefficients
+};
+
+Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations
+
+#endif //ROTATION_H
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