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/* Copyright (c) 2012 Patrick Ruoff
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#ifndef ROTATION_H
#define ROTATION_H
#include <cmath>
// ----------------------------------------------------------------------------
class Rotation {
public:
Rotation() : w(1.0),x(0.0),y(0.0),z(0.0) {}
Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
Rotation(double x, double y, double z, double w) : x(x),y(y),z(z),w(w) {}
Rotation inv(){ // inverse
return Rotation(-x,-y,-z, w);
}
// conversions
// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
void fromEuler(double yaw, double pitch, double roll)
{
// Assuming the angles are in radians.
double c1 = cos(yaw);
double s1 = sin(yaw);
double c2 = cos(roll);
double s2 = sin(roll);
double c3 = cos(pitch);
double s3 = sin(pitch);
w = sqrt(1.0 + c1 * c2 + c1*c3 - s1 * s2 * s3 + c2*c3) / 2.0;
double w4 = (4.0 * w);
x = (c2 * s3 + c1 * s3 + s1 * s2 * c3) / w4 ;
y = (s1 * c2 + s1 * c3 + c1 * s2 * s3) / w4 ;
z = (-s1 * s3 + c1 * s2 * c3 +s2) / w4 ;
}
void toEuler(double& yaw, double& pitch, double& roll)
{
yaw = atan2(2.0*(y*w - x*z), 1.0 - 2.0*(y*y + z*z));
roll = asin(2.0*(x*y + z*w));
pitch = atan2(2.0*(x*w - y*z), 1.0 - 2.0*(x*x + z*z));
}
/* 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.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);
}
protected:
double w,x,y,z; // quaternion coefficients
};
#endif //ROTATION_H
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