diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2013-03-22 21:48:15 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2013-03-22 21:48:15 +0100 |
| commit | 4f00c4c74d213a37a4b1a3313e50ce2b4dd51271 (patch) | |
| tree | f692743cb752c994c05fe2761f83af08aa28d239 /facetracknoir/xxx_rotation.cpp | |
| parent | 5c5ec4b4238996770bfd74ddfc87934ace40bf0f (diff) | |
finish rename
Diffstat (limited to 'facetracknoir/xxx_rotation.cpp')
| -rw-r--r-- | facetracknoir/xxx_rotation.cpp | 48 |
1 files changed, 48 insertions, 0 deletions
diff --git a/facetracknoir/xxx_rotation.cpp b/facetracknoir/xxx_rotation.cpp new file mode 100644 index 00000000..1c89d775 --- /dev/null +++ b/facetracknoir/xxx_rotation.cpp @@ -0,0 +1,48 @@ +/* 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.
+ */
+
+#include "rotation.h"
+
+#include <cmath>
+
+// ----------------------------------------------------------------------------
+Rotation Rotation::inv()
+{
+ return Rotation(a,-b,-c,-d);
+}
+
+// conversions
+// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+void Rotation::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 Rotation::toEuler(double& yaw, double& pitch, double& roll)
+{
+ 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));
+}
+
+Rotation operator*(const Rotation& A, const Rotation& B)
+{
+ return Rotation(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);
+}
\ No newline at end of file |