diff options
Diffstat (limited to 'facetracknoir/rotation.h')
| -rw-r--r-- | facetracknoir/rotation.h | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index e97ec0f0..747a23f9 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -9,15 +9,15 @@ #define ROTATION_H #include <cmath> // ---------------------------------------------------------------------------- -class Rotation { +class RotationType { public: - Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {} - Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); } - Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} + RotationType() : a(1.0),b(0.0),c(0.0),d(0.0) {} + RotationType(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); } + RotationType(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} - Rotation inv(){ // inverse - return Rotation(a,-b,-c, -d); + RotationType inv(){ // inverse + return RotationType(a,-b,-c, -d); } @@ -46,10 +46,10 @@ public: yaw = atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d)); } - const Rotation operator*(const Rotation& B) + const RotationType operator*(const RotationType& B) { - const Rotation& A = *this; - return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication + const RotationType& A = *this; + return RotationType(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); |