0,0 → 1,48 |
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// Copyright 2012 Andrew Tridgell, all rights reserved. |
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// This library is free software; you can redistribute it and / or |
// modify it under the terms of the GNU Lesser General Public |
// License as published by the Free Software Foundation; either |
// version 2.1 of the License, or (at your option) any later version. |
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#ifndef QUATERNION_H |
#define QUATERNION_H |
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#include <math.h> |
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class Quaternion |
{ |
public: |
float q1, q2, q3, q4; |
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// constructor creates a quaternion equivalent |
// to roll=0, pitch=0, yaw=0 |
Quaternion() { q1 = 1; q2 = q3 = q4 = 0; } |
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// setting constructor |
Quaternion(const float _q1, const float _q2, const float _q3, const float _q4): |
q1(_q1), q2(_q2), q3(_q3), q4(_q4) {} |
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// function call operator |
void operator ()(const float _q1, const float _q2, const float _q3, const float _q4) |
{ q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4; } |
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// check if any elements are NAN |
bool is_nan(void) |
{ return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); } |
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// return the rotation matrix equivalent for this quaternion |
void rotation_matrix(Matrix3f &m); |
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// convert a vector from earth to body frame |
void earth_to_body(Vector3f &v); |
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// create a quaternion from Euler angles |
void from_euler(float roll, float pitch, float yaw); |
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// create eulers from a quaternion |
void to_euler(float *roll, float *pitch, float *yaw); |
}; |
#endif // QUATERNION_H |