1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
|
#include "simple-mat.hpp"
namespace euler {
static constexpr double pi = 3.141592653;
enum Axis
{
TX, TY, TZ, Yaw, Pitch, Roll
};
static constexpr double eps_ = 2e1;
static constexpr double d2r = pi / 180;
static constexpr double eps = eps_ * d2r;
euler_t euler_filter(const euler_t& rot_)
{
using std::fabs;
using std::copysign;
euler_t rot(rot_);
static constexpr double thres[] =
{
pi, pi/2, pi
};
double changed_eps[] = { 0, 0, 0 };
for (int i = 0; i < 3; i++)
if (fabs(rot(i)) > thres[i] - eps && fabs(rot(i)) < thres[i] + eps)
{
const double eps__ = copysign(eps, rot(i));
changed_eps[i] = eps__;
rot(i) -= eps__;
rot = rmat_to_euler(euler_to_rmat(rot));
}
for (int i = 0; i < 3; i++)
{
rot(i) += changed_eps[i];
if (fabs(rot(i)) > 2*pi)
rot(i) = copysign(2*pi, rot(i));
}
return rot;
}
euler_t rmat_to_euler(const dmat<3, 3>& R)
{
static constexpr double pi = 3.141592653;
const double pitch_1 = asin(-R(0, 2));
const double pitch_2 = pi - pitch_1;
const double cos_p1 = cos(pitch_1), cos_p2 = cos(pitch_2);
const double roll_1 = atan2(R(1, 2) / cos_p1, R(2, 2) / cos_p1);
const double roll_2 = atan2(R(1, 2) / cos_p2, R(2, 2) / cos_p2);
const double yaw_1 = atan2(R(0, 1) / cos_p1, R(0, 0) / cos_p1);
const double yaw_2 = atan2(R(0, 1) / cos_p2, R(0, 0) / cos_p2);
using std::fabs;
const double err1 = fabs(pitch_1) + fabs(roll_1) + fabs(yaw_1);
const double err2 = fabs(pitch_2) + fabs(roll_2) + fabs(yaw_2);
if (err1 > err2)
{
bool fix_neg_pitch = pitch_1 < 0;
return euler_t(yaw_2, fix_neg_pitch ? -pi - pitch_1 : pitch_2, roll_2);
}
else
return euler_t(yaw_1, pitch_1, roll_1);
}
// tait-bryan angles, not euler
rmat euler_to_rmat(const double* input)
{
static constexpr double pi = 3.141592653;
auto H = input[0] * pi / 180;
auto P = input[1] * pi / 180;
auto B = input[2] * pi / 180;
const auto c1 = cos(H);
const auto s1 = sin(H);
const auto c2 = cos(P);
const auto s2 = sin(P);
const auto c3 = cos(B);
const auto s3 = sin(B);
double foo[] = {
// z
c1 * c2,
c1 * s2 * s3 - c3 * s1,
s1 * s3 + c1 * c3 * s2,
// y
c2 * s1,
c1 * c3 + s1 * s2 * s3,
c3 * s1 * s2 - c1 * s3,
// x
-s2,
c2 * s3,
c2 * c3
};
return dmat<3, 3>(foo);
}
} // end ns euler
|
