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 | // 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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25 | namespace flair {
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26 | namespace core {
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27 |
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28 | Euler::Euler(float inRoll, float inPitch, float inYaw)
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29 | : roll(inRoll), pitch(inPitch), yaw(inYaw) {}
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30 |
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31 | Euler::~Euler() {}
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32 |
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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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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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46 | if(roll<-PI) roll+=2*PI;
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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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60 | if(pitch<-PI) pitch+=2*PI;
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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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74 | if(yaw<-PI) yaw+=2*PI;
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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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83 | quaternion.q0 = cosf(yaw / 2.0f) * cosf(pitch / 2.0f) * cosf(roll / 2.0f) +
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84 | sinf(yaw / 2.0f) * sinf(pitch / 2.0f) * sinf(roll / 2.0f);
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85 |
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86 | quaternion.q1 = cosf(yaw / 2.0f) * cosf(pitch / 2.0f) * sinf(roll / 2.0f) -
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87 | sinf(yaw / 2.0f) * sinf(pitch / 2.0f) * cosf(roll / 2.0f);
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88 |
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89 | quaternion.q2 = cosf(yaw / 2.0f) * sinf(pitch / 2.0f) * cosf(roll / 2.0f) +
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90 | sinf(yaw / 2.0f) * cosf(pitch / 2.0f) * sinf(roll / 2.0f);
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91 |
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92 | quaternion.q3 = sinf(yaw / 2.0f) * cosf(pitch / 2.0f) * cosf(roll / 2.0f) -
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93 | cosf(yaw / 2.0f) * sinf(pitch / 2.0f) * sinf(roll / 2.0f);
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94 | }
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95 |
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96 | Quaternion Euler::ToQuaternion(void) const {
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97 | Quaternion quaternion;
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98 | ToQuaternion(quaternion);
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99 | return quaternion;
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100 | }
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101 |
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102 | float Euler::ToDegree(float radianValue) { return radianValue * 180.0f / PI; }
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103 |
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104 | float Euler::ToRadian(float degreeValue) { return degreeValue / 180.0f * PI; }
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105 |
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106 | float Euler::YawDistanceFrom(float angle) const {
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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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115 |
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116 | if (rot2 < rot1) rot1 = -rot2;
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117 |
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118 | rot1 = -rot1; // pour avoir rot1=yaw-angle
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119 |
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120 | return rot1;
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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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