flush

1 files changed, 0 insertions, 58 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
deleted file mode 100644
index b3bb891e..00000000
--- a/facetracknoir/rotation.h
+++ /dev/null
@@ -1,58 +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 {
-
-public:
-    Quat() : a(1.0),b(0.0),c(0.0),d(0.0) {}
-    Quat(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
-    Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
-
-    Quat inv(){
-        return Quat(a,-b,-c, -d);
-    }
-
-    // conversions
-    // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-    void fromEuler(double yaw, double pitch, double roll)
-    {
-
-        double sin_phi = sin(roll/2.0);
-        double cos_phi = cos(roll/2.0);
-        double sin_the = sin(pitch/2.0);
-        double cos_the = cos(pitch/2.0);
-        double sin_psi = sin(yaw/2.0);
-        double cos_psi = cos(yaw/2.0);
-
-        a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
-        b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
-        c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
-        d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
-    }
-
-    void toEuler(double& yaw, double& pitch, double& roll) const
-    {
-        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 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);
-    }
-
-private:
-    double a,b,c,d; // quaternion coefficients
-};