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