source: flair-src/trunk/lib/FlairCore/src/Euler.cpp@ 456

Last change on this file since 456 was 336, checked in by Sanahuja Guillaume, 2 years ago

use float

File size: 3.1 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/05/02
6// filename: Euler.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining euler angles
14//
15//
16/*********************************************************************/
17
18#include "Euler.h"
19#include "Quaternion.h"
20#include <math.h>
21
22#define PI ((float)3.14159265358979323846)
23#define PI_D ((double)3.14159265358979323846)
24
25namespace flair {
26namespace core {
27
28Euler::Euler(float inRoll, float inPitch, float inYaw)
29 : roll(inRoll), pitch(inPitch), yaw(inYaw) {}
30
31Euler::~Euler() {}
32
33Euler &Euler::operator=(const Euler &euler) {
34 roll = euler.roll;
35 pitch = euler.pitch;
36 yaw = euler.yaw;
37 return (*this);
38}
39/*
40void Euler::RotateX(float value) {
41 float pitch_tmp;
42 pitch_tmp=pitch*cosf(value)+yaw*sinf(value);
43 yaw=-pitch*sinf(value)+yaw*cosf(value);
44 pitch=pitch_tmp;
45 roll+=value;
46 if(roll<-PI) roll+=2*PI;
47 if(roll>PI) roll-=2*PI;
48}
49
50void Euler::RotateXDeg(float value) {
51 RotateX(ToRadian(value));
52}
53
54void Euler::RotateY(float value) {
55 float roll_tmp;
56 roll_tmp=roll*cosf(value)-yaw*sinf(value);
57 yaw=roll*sinf(value)+yaw*cosf(value);
58 roll=roll_tmp;
59 pitch+=value;
60 if(pitch<-PI) pitch+=2*PI;
61 if(pitch>PI) pitch-=2*PI;
62}
63
64void Euler::RotateYDeg(float value) {
65 RotateY(ToRadian(value));
66}
67
68void Euler::RotateZ(float value) {
69 float roll_tmp;
70 roll_tmp=roll*cosf(value)+pitch*sinf(value);
71 pitch=-roll*sinf(value)+pitch*cosf(value);
72 roll=roll_tmp;
73 yaw+=value;
74 if(yaw<-PI) yaw+=2*PI;
75 if(yaw>PI) yaw-=2*PI;
76}
77
78void Euler::RotateZDeg(float value) {
79 RotateZ(ToRadian(value));
80}
81*/
82void Euler::ToQuaternion(Quaternion &quaternion) const {
83 quaternion.q0 = cosf(yaw / 2.0f) * cosf(pitch / 2.0f) * cosf(roll / 2.0f) +
84 sinf(yaw / 2.0f) * sinf(pitch / 2.0f) * sinf(roll / 2.0f);
85
86 quaternion.q1 = cosf(yaw / 2.0f) * cosf(pitch / 2.0f) * sinf(roll / 2.0f) -
87 sinf(yaw / 2.0f) * sinf(pitch / 2.0f) * cosf(roll / 2.0f);
88
89 quaternion.q2 = cosf(yaw / 2.0f) * sinf(pitch / 2.0f) * cosf(roll / 2.0f) +
90 sinf(yaw / 2.0f) * cosf(pitch / 2.0f) * sinf(roll / 2.0f);
91
92 quaternion.q3 = sinf(yaw / 2.0f) * cosf(pitch / 2.0f) * cosf(roll / 2.0f) -
93 cosf(yaw / 2.0f) * sinf(pitch / 2.0f) * sinf(roll / 2.0f);
94}
95
96Quaternion Euler::ToQuaternion(void) const {
97 Quaternion quaternion;
98 ToQuaternion(quaternion);
99 return quaternion;
100}
101
102float Euler::ToDegree(float radianValue) { return radianValue * 180.0f / PI; }
103
104float Euler::ToRadian(float degreeValue) { return degreeValue / 180.0f * PI; }
105
106float Euler::YawDistanceFrom(float angle) const {
107 float rot1, rot2;
108 if (angle > yaw) {
109 rot1 = angle - yaw;
110 rot2 = 2 * PI - angle + yaw;
111 } else {
112 rot1 = 2 * PI + angle - yaw;
113 rot2 = yaw - angle;
114 }
115
116 if (rot2 < rot1) rot1 = -rot2;
117
118 rot1 = -rot1; // pour avoir rot1=yaw-angle
119
120 return rot1;
121}
122
123} // end namespace core
124} // end namespace flair
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