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authorStanislaw Halik <sthalik@misaki.pl>2014-10-25 14:53:57 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-10-25 14:53:57 +0200
commit020b076424fa40a4156e44f00471238be6f3e677 (patch)
tree1bdb370e810fd8cea65c89dfa47f08f9b78f55ff /opentrack
parent3235281156cfd733759a982bf84701d40c1a33b5 (diff)
so long "class Quat", hope you rot in hell
Diffstat (limited to 'opentrack')
-rw-r--r--opentrack/pose.hpp13
-rw-r--r--opentrack/quat.hpp74
2 files changed, 0 insertions, 87 deletions
diff --git a/opentrack/pose.hpp b/opentrack/pose.hpp
index d0aadcd9..93d467a9 100644
--- a/opentrack/pose.hpp
+++ b/opentrack/pose.hpp
@@ -2,7 +2,6 @@
#include <utility>
#include <algorithm>
-#include "./quat.hpp"
#include "./plugin-api.hpp"
class Pose {
@@ -20,16 +19,4 @@ public:
inline double& operator()(int i) { return axes[i]; }
inline double operator()(int i) const { return axes[i]; }
-
- Quat quat() const
- {
- return Quat(axes[Yaw]*d2r, axes[Pitch]*d2r, axes[Roll]*d2r);
- }
-
- static Pose fromQuat(const Quat& q)
- {
- Pose ret;
- q.to_euler_degrees(ret(Yaw), ret(Pitch), ret(Roll));
- return ret;
- }
};
diff --git a/opentrack/quat.hpp b/opentrack/quat.hpp
deleted file mode 100644
index 9fb8f781..00000000
--- a/opentrack/quat.hpp
+++ /dev/null
@@ -1,74 +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 _0,_1,_2,_3; // quaternion coefficients
-public:
- Quat() : _0(1.),_1(0.),_2(0.),_3(0.) {}
- Quat(double yaw, double pitch, double roll) { *this = from_euler_rads(yaw, pitch, roll); }
- Quat(double a, double b, double c, double d) : _0(a),_1(b),_2(c),_3(d) {}
-
- Quat inv() const {
- return Quat(_0,-_1,-_2, -_3);
- }
-
- // 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._0 = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
- q._1 = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
- q._2 = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
- q._3 = 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.*(_0*_1 + _2*_3), 1. - 2.*(_1*_1 + _2*_2));
- pitch = asin(2.*(_0*_2 - _1*_3));
- yaw = atan2(2.*(_0*_3 + _1*_2), 1. - 2.*(_2*_2 + _3*_3));
- }
-
- 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;
- const double x = A._2 * B._0 + A._2 * B._3 - A._3 * B._2 + A._0 * B._2;
- const double y = -A._2 * B._3 + A._2 * B._0 + A._3 * B._2 + A._0 * B._2;
- const double z = A._2 * B._2 - A._2 * B._2 + A._3 * B._0 + A._0 * B._3;
- const double w = -A._2 * B._2 - A._2 * B._2 - A._3 * B._3 + A._0 * B._0;
- const double mag_2 = x*x + y*y + z*z + w*w;
- const double mag = sqrt(mag_2);
- const double inv_mag = 1./mag;
- return Quat(mag, x*inv_mag, y*inv_mag, z*inv_mag);
- }
-};