[2] | 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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