| 0,0 → 1,48 |
|---|
| // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
| |
| // Copyright 2012 Andrew Tridgell, all rights reserved. |
| |
| // 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. |
| |
| #ifndef QUATERNION_H |
| #define QUATERNION_H |
| |
| #include <math.h> |
| |
| class Quaternion |
| { |
| public: |
| float q1, q2, q3, q4; |
| |
| // constructor creates a quaternion equivalent |
| // to roll=0, pitch=0, yaw=0 |
| Quaternion() { q1 = 1; q2 = q3 = q4 = 0; } |
| |
| // setting constructor |
| Quaternion(const float _q1, const float _q2, const float _q3, const float _q4): |
| q1(_q1), q2(_q2), q3(_q3), q4(_q4) {} |
| |
| // 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; } |
| |
| // check if any elements are NAN |
| bool is_nan(void) |
| { return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); } |
| |
| // return the rotation matrix equivalent for this quaternion |
| void rotation_matrix(Matrix3f &m); |
| |
| // convert a vector from earth to body frame |
| void earth_to_body(Vector3f &v); |
| |
| // create a quaternion from Euler angles |
| void from_euler(float roll, float pitch, float yaw); |
| |
| // create eulers from a quaternion |
| void to_euler(float *roll, float *pitch, float *yaw); |
| }; |
| #endif // QUATERNION_H |