[2] | 1 | // %flair:license{ |
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| 2 | // This file is part of the Flair framework distributed under the |
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| 3 | // CECILL-C License, Version 1.0. |
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| 4 | // %flair:license} |
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| 5 | /*! |
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| 6 | * \file Euler.h |
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| 7 | * \brief Class defining euler angles |
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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| 9 | * \date 2013/05/02 |
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| 10 | * \version 4.0 |
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| 11 | */ |
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| 12 | |
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| 13 | #ifndef EULER_H |
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| 14 | #define EULER_H |
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| 15 | |
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| 16 | namespace flair { namespace core { |
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| 17 | class Quaternion; |
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| 18 | |
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| 19 | /*! \class Euler |
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| 20 | * |
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| 21 | * \brief Class defining euler angles |
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| 22 | * |
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| 23 | * Euler angles are expressed in radians. |
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| 24 | * |
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| 25 | */ |
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| 26 | class Euler { |
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| 27 | public: |
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| 28 | /*! |
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| 29 | * \brief Constructor |
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| 30 | * |
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| 31 | * Construct euler angles using specified values. |
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| 32 | * |
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| 33 | * \param roll roll value |
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| 34 | * \param pitch pitch value |
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| 35 | * \param yaw yaw value |
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| 36 | */ |
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| 37 | Euler(float roll=0,float pitch=0,float yaw=0); |
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| 38 | |
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| 39 | /*! |
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| 40 | * \brief Destructor |
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| 41 | * |
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| 42 | */ |
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| 43 | ~Euler(); |
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| 44 | |
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| 45 | /*! |
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| 46 | * \brief x axis rotation |
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| 47 | * |
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| 48 | * \param value rotation value in radians |
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| 49 | */ |
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| 50 | //todo: passer par un quaternion |
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| 51 | //void RotateX(float value); |
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| 52 | |
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| 53 | /*! |
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| 54 | * \brief x axis rotation |
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| 55 | * |
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| 56 | * \param value rotation value in degrees |
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| 57 | */ |
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| 58 | //void RotateXDeg(float value); |
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| 59 | |
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| 60 | /*! |
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| 61 | * \brief y axis rotation |
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| 62 | * |
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| 63 | * \param value rotation value in radians |
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| 64 | */ |
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| 65 | //void RotateY(float value); |
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| 66 | |
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| 67 | /*! |
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| 68 | * \brief y axis rotation |
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| 69 | * |
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| 70 | * \param value rotation value in degrees |
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| 71 | */ |
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| 72 | //void RotateYDeg(float value); |
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| 73 | |
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| 74 | /*! |
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| 75 | * \brief z axis rotation |
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| 76 | * |
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| 77 | * \param value rotation value in radians |
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| 78 | */ |
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| 79 | //void RotateZ(float value); |
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| 80 | |
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| 81 | /*! |
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| 82 | * \brief z axis rotation |
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| 83 | * |
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| 84 | * \param value rotation value in degrees |
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| 85 | */ |
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| 86 | //void RotateZDeg(float value); |
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| 87 | |
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| 88 | /*! |
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| 89 | * \brief Convert to quaternion |
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| 90 | * |
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| 91 | * \param quaternion output quaternion |
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| 92 | */ |
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| 93 | void ToQuaternion(Quaternion &quaternion) const; |
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| 94 | |
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| 95 | /*! |
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| 96 | * \brief Convert to quaternion |
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| 97 | * |
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| 98 | * \return quaternion |
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| 99 | */ |
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| 100 | Quaternion ToQuaternion(void) const; |
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| 101 | /*! |
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| 102 | * \brief Convert from radian to degree |
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| 103 | * |
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| 104 | * \param radianValue value in radian |
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| 105 | * |
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| 106 | * \return value in degree |
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| 107 | */ |
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| 108 | static float ToDegree(float radianValue); |
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| 109 | |
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| 110 | /*! |
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| 111 | * \brief Convert from degree to radian |
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| 112 | * |
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| 113 | * \param degreeValue value in degree |
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| 114 | * |
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| 115 | * \return value in radian |
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| 116 | */ |
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| 117 | static float ToRadian(float degreeValue); |
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| 118 | |
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| 119 | /*! |
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| 120 | * \brief Compute yaw distance |
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| 121 | * |
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| 122 | * Compute yaw distance from given angle. This is the minimum distance. |
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| 123 | * |
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| 124 | * \param angle starting angle |
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| 125 | * |
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| 126 | * \return value distance in radian |
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| 127 | */ |
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| 128 | float YawDistanceFrom(float angle) const; |
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| 129 | |
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| 130 | /*! |
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| 131 | * \brief roll value |
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| 132 | */ |
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| 133 | float roll; |
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| 134 | |
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| 135 | /*! |
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| 136 | * \brief pitch value |
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| 137 | */ |
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| 138 | float pitch; |
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| 139 | |
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| 140 | /*! |
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| 141 | * \brief yaw value |
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| 142 | */ |
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| 143 | float yaw; |
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| 144 | |
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| 145 | Euler& operator=(const Euler &euler); |
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| 146 | |
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| 147 | }; |
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| 148 | |
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| 149 | } // end namespace core |
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| 150 | } // end namespace flair |
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| 151 | |
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| 152 | #endif // EULER_H |
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