From cdb407f7b789908e2fbe10e46462d45eced2625f Mon Sep 17 00:00:00 2001 From: mm0zct Date: Tue, 25 Jun 2013 01:44:10 +0100 Subject: Fixed rotation.h --- facetracknoir/facetracknoir.rc | 2 +- facetracknoir/rotation.h | 29 ++++++++++++++++++++--------- 2 files changed, 21 insertions(+), 10 deletions(-) diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc index fcae12b3..655baa9d 100644 --- a/facetracknoir/facetracknoir.rc +++ b/facetracknoir/facetracknoir.rc @@ -1,2 +1,2 @@ -#include "resource.h" +#include IDI_ICON1 ICON "facetracknoir.ico" diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h index 1a4e705b..a1500969 100644 --- a/facetracknoir/rotation.h +++ b/facetracknoir/rotation.h @@ -10,7 +10,7 @@ #include // ---------------------------------------------------------------------------- class Rotation { - friend Rotation operator*(const Rotation& A, const Rotation& B); + 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); } @@ -38,12 +38,30 @@ public: d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; } - void Rotation::toEuler(double& yaw, double& pitch, double& roll) + 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& 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); + }*/ + + + 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 @@ -51,11 +69,4 @@ protected: -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); -} #endif //ROTATION_H -- cgit v1.2.3