diff options
Diffstat (limited to 'facetracknoir/rotation.cpp')
| -rw-r--r-- | facetracknoir/rotation.cpp | 35 |
1 files changed, 1 insertions, 34 deletions
diff --git a/facetracknoir/rotation.cpp b/facetracknoir/rotation.cpp index f6d16d2d..1a6e1e8e 100644 --- a/facetracknoir/rotation.cpp +++ b/facetracknoir/rotation.cpp @@ -7,42 +7,9 @@ #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(volatile double& yaw, volatile double& pitch, volatile 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 |