From 18bbc3d392c335f47343061d4f054306e2c06b1e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 17 Jul 2013 20:52:27 +0200 Subject: Fix build --- facetracknoir/rotation.h | 41 ++++++++++++++++------------------------- 1 file changed, 16 insertions(+), 25 deletions(-) (limited to 'facetracknoir') 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 -- cgit v1.2.3