[2] | 1 | // %flair:license{ |
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[15] | 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 | // created: 2013/05/02 |
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| 6 | // filename: Euler.cpp |
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| 7 | // |
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| 8 | // author: Guillaume Sanahuja |
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253 |
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| 10 | // |
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| 11 | // version: $Id: $ |
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| 12 | // |
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| 13 | // purpose: Class defining euler angles |
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| 14 | // |
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| 15 | // |
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| 16 | /*********************************************************************/ |
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| 17 | |
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| 18 | #include "Euler.h" |
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| 19 | #include "Quaternion.h" |
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| 20 | #include <math.h> |
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| 21 | |
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| 22 | #define PI ((float)3.14159265358979323846) |
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| 23 | #define PI_D ((double)3.14159265358979323846) |
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| 24 | |
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[15] | 25 | namespace flair { |
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| 26 | namespace core { |
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[2] | 27 | |
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[15] | 28 | Euler::Euler(float inRoll, float inPitch, float inYaw) |
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| 29 | : roll(inRoll), pitch(inPitch), yaw(inYaw) {} |
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[2] | 30 | |
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[15] | 31 | Euler::~Euler() {} |
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[2] | 32 | |
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[15] | 33 | Euler &Euler::operator=(const Euler &euler) { |
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| 34 | roll = euler.roll; |
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| 35 | pitch = euler.pitch; |
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| 36 | yaw = euler.yaw; |
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| 37 | return (*this); |
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[2] | 38 | } |
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| 39 | /* |
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| 40 | void Euler::RotateX(float value) { |
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| 41 | float pitch_tmp; |
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| 42 | pitch_tmp=pitch*cosf(value)+yaw*sinf(value); |
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| 43 | yaw=-pitch*sinf(value)+yaw*cosf(value); |
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| 44 | pitch=pitch_tmp; |
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| 45 | roll+=value; |
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[15] | 46 | if(roll<-PI) roll+=2*PI; |
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[2] | 47 | if(roll>PI) roll-=2*PI; |
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| 48 | } |
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| 49 | |
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| 50 | void Euler::RotateXDeg(float value) { |
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| 51 | RotateX(ToRadian(value)); |
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| 52 | } |
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| 53 | |
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| 54 | void Euler::RotateY(float value) { |
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| 55 | float roll_tmp; |
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| 56 | roll_tmp=roll*cosf(value)-yaw*sinf(value); |
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| 57 | yaw=roll*sinf(value)+yaw*cosf(value); |
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| 58 | roll=roll_tmp; |
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| 59 | pitch+=value; |
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[15] | 60 | if(pitch<-PI) pitch+=2*PI; |
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[2] | 61 | if(pitch>PI) pitch-=2*PI; |
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| 62 | } |
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| 63 | |
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| 64 | void Euler::RotateYDeg(float value) { |
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| 65 | RotateY(ToRadian(value)); |
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| 66 | } |
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| 67 | |
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| 68 | void Euler::RotateZ(float value) { |
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| 69 | float roll_tmp; |
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| 70 | roll_tmp=roll*cosf(value)+pitch*sinf(value); |
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| 71 | pitch=-roll*sinf(value)+pitch*cosf(value); |
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| 72 | roll=roll_tmp; |
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| 73 | yaw+=value; |
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[15] | 74 | if(yaw<-PI) yaw+=2*PI; |
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[2] | 75 | if(yaw>PI) yaw-=2*PI; |
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| 76 | } |
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| 77 | |
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| 78 | void Euler::RotateZDeg(float value) { |
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| 79 | RotateZ(ToRadian(value)); |
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| 80 | } |
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| 81 | */ |
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| 82 | void Euler::ToQuaternion(Quaternion &quaternion) const { |
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[15] | 83 | quaternion.q0 = cos(yaw / 2) * cos(pitch / 2) * cos(roll / 2) + |
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| 84 | sin(yaw / 2) * sin(pitch / 2) * sin(roll / 2); |
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[2] | 85 | |
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[15] | 86 | quaternion.q1 = cos(yaw / 2) * cos(pitch / 2) * sin(roll / 2) - |
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| 87 | sin(yaw / 2) * sin(pitch / 2) * cos(roll / 2); |
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[2] | 88 | |
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[15] | 89 | quaternion.q2 = cos(yaw / 2) * sin(pitch / 2) * cos(roll / 2) + |
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| 90 | sin(yaw / 2) * cos(pitch / 2) * sin(roll / 2); |
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[2] | 91 | |
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[15] | 92 | quaternion.q3 = sin(yaw / 2) * cos(pitch / 2) * cos(roll / 2) - |
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| 93 | cos(yaw / 2) * sin(pitch / 2) * sin(roll / 2); |
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[2] | 94 | } |
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| 95 | |
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| 96 | Quaternion Euler::ToQuaternion(void) const { |
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[15] | 97 | Quaternion quaternion; |
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| 98 | ToQuaternion(quaternion); |
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| 99 | return quaternion; |
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[2] | 100 | } |
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| 101 | |
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[15] | 102 | float Euler::ToDegree(float radianValue) { return radianValue * 180.0f / PI; } |
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[2] | 103 | |
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[15] | 104 | float Euler::ToRadian(float degreeValue) { return degreeValue / 180.0f * PI; } |
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[2] | 105 | |
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| 106 | float Euler::YawDistanceFrom(float angle) const { |
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[15] | 107 | float rot1, rot2; |
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| 108 | if (angle > yaw) { |
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| 109 | rot1 = angle - yaw; |
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| 110 | rot2 = 2 * PI - angle + yaw; |
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| 111 | } else { |
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| 112 | rot1 = 2 * PI + angle - yaw; |
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| 113 | rot2 = yaw - angle; |
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| 114 | } |
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[157] | 115 | |
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| 116 | if (rot2 < rot1) rot1 = -rot2; |
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| 117 | |
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[15] | 118 | rot1 = -rot1; // pour avoir rot1=yaw-angle |
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[2] | 119 | |
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[15] | 120 | return rot1; |
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[2] | 121 | } |
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| 122 | |
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| 123 | } // end namespace core |
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| 124 | } // end namespace flair |
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