diff options
Diffstat (limited to 'facetracknoir')
| -rw-r--r-- | facetracknoir/rotation.h | 41 |
1 files changed, 16 insertions, 25 deletions
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index 5385b545..dd70ca77 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -38,31 +38,22 @@ public: 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(double& yaw, double& pitch, 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));
- }
-
-/* const Rotation operator*(const Rotation& A, const Rotation& B)
- {
- return Rotation(A.w*B.w - A.x*B.x - A.y*B.y - A.z*B.z, // quaternion multiplication
- A.w*B.x + A.x*B.w + A.y*B.z - A.z*B.y,
- A.w*B.y - A.x*B.z + A.y*B.w + A.z*B.x,
- A.w*B.z + A.x*B.y - A.y*B.x + A.z*B.w);
- }*/
-
-
- const Rotation operator*(const Rotation& 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
- 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);
- }
+
+ void toEuler(double& yaw, double& pitch, 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));
+ }
+
+ const Rotation operator*(const Rotation& 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
+ 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);
+ }
protected:
double a,b,c,d; // quaternion coefficients
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