diff options
| -rw-r--r-- | opentrack-logic/simple-mat.cpp | 42 | ||||
| -rw-r--r-- | opentrack-logic/simple-mat.hpp | 8 |
2 files changed, 47 insertions, 3 deletions
diff --git a/opentrack-logic/simple-mat.cpp b/opentrack-logic/simple-mat.cpp index 1aaeb296..8c97f192 100644 --- a/opentrack-logic/simple-mat.cpp +++ b/opentrack-logic/simple-mat.cpp @@ -4,7 +4,7 @@ namespace euler { -euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const dmat<3, 3>& R) +euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R) { using std::atan2; using std::sqrt; @@ -54,4 +54,44 @@ rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input) ); } +// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations +void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input, + rmat& r_roll, + rmat& r_pitch, + rmat& r_yaw) +{ + using std::cos; + using std::sin; + + { + const double phi = -input(2); + const double sin_phi = sin(phi); + const double cos_phi = cos(phi); + + r_roll = rmat(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 = rmat(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 = rmat(cos_psi, -sin_psi, 0, + sin_psi, cos_psi, 0, + 0, 0, 1); + } +} + } // end ns euler diff --git a/opentrack-logic/simple-mat.hpp b/opentrack-logic/simple-mat.hpp index 09de6004..514e845f 100644 --- a/opentrack-logic/simple-mat.hpp +++ b/opentrack-logic/simple-mat.hpp @@ -269,7 +269,11 @@ using euler_t = dmat<3, 1>; rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input); -// http://stackoverflow.com/a/18436193 -euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const dmat<3, 3>& R); +euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R); + +void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input, + rmat& r_roll, + rmat& r_pitch, + rmat& r_yaw); } // end ns euler |