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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