diff options
| -rw-r--r-- | opentrack/pose.hpp | 13 | ||||
| -rw-r--r-- | opentrack/quat.hpp | 74 |
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); - } -}; |