source: flair-src/trunk/lib/FlairCore/src/OneAxisRotation_impl.cpp @ 186

Last change on this file since 186 was 186, checked in by Sanahuja Guillaume, 3 years ago

maj imu

File size: 2.6 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:    2013/04/17
6//  filename:   OneAxisRotation_impl.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant pour une rotation sur un axe
14//
15//
16/*********************************************************************/
17
18#include "OneAxisRotation_impl.h"
19#include "GroupBox.h"
20#include "ComboBox.h"
21#include "DoubleSpinBox.h"
22#include <Euler.h>
23#include <Quaternion.h>
24#include <math.h>
25
26using std::string;
27using namespace flair::core;
28using namespace flair::gui;
29
30template void OneAxisRotation_impl::ComputeRotation(Vector3D<float>&) const;
31template void OneAxisRotation_impl::ComputeRotation(Vector3D<double>&) const;
32
33OneAxisRotation_impl::OneAxisRotation_impl(GroupBox *box) {
34  rot_value =
35      new DoubleSpinBox(box->NewRow(), "value", " deg", -180., 180., 10., 1);
36  rot_axe = new ComboBox(box->LastRowLastCol(), "axis");
37  rot_axe->AddItem("x");
38  rot_axe->AddItem("y");
39  rot_axe->AddItem("z");
40}
41
42OneAxisRotation_impl::~OneAxisRotation_impl() {}
43
44void OneAxisRotation_impl::ComputeRotation(Quaternion &quat) const {
45  Quaternion rot;
46  switch (rot_axe->CurrentIndex()) {
47    case 0:
48      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),sinf(Euler::ToRadian(rot_value->Value()/2)), 0,0);
49      break;
50    case 1:
51      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),0,sinf(Euler::ToRadian(rot_value->Value()/2)),0);
52      break;
53    case 2:
54      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),0,0,sinf(Euler::ToRadian(rot_value->Value()/2)));
55      break;
56  }
57  quat=quat*rot;
58}
59
60void OneAxisRotation_impl::ComputeRotation(RotationMatrix &matrix) const {
61  Printf("not yet implemented\n");
62}
63
64// on utilise la rotation d'un vector pour faire une rotation de repere
65// d'ou le signe negatif
66template <typename T> void OneAxisRotation_impl::ComputeRotation(Vector3D<T> &vector) const {
67  switch (rot_axe->CurrentIndex()) {
68  case 0:
69    vector.RotateXDeg(-rot_value->Value());
70    break;
71  case 1:
72    vector.RotateYDeg(-rot_value->Value());
73    break;
74  case 2:
75    vector.RotateZDeg(-rot_value->Value());
76    break;
77  }
78}
79
80void OneAxisRotation_impl::ComputeRotation(Euler &euler) const {
81  Quaternion quat;
82  euler.ToQuaternion(quat);
83  ComputeRotation(quat);
84  quat.ToEuler(euler);
85}
86
87int OneAxisRotation_impl::GetAxis() const {
88  return rot_axe->CurrentIndex();
89}
90
91float OneAxisRotation_impl::GetAngle() const {
92  return rot_value->Value();
93}
94
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