source: flair-src/trunk/lib/FlairCore/src/Quaternion.cpp@ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 6 years ago

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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: 2016/02/03
6// filename: Quaternion.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class defining a quaternion
14//
15//
16/*********************************************************************/
17
18#include "Quaternion.h"
19#include "Vector3D.h"
20#include "Euler.h"
21#include "RotationMatrix.h"
22#include <math.h>
23#include <stdio.h>
24
25namespace flair {
26namespace core {
27
28Quaternion::Quaternion(float inQ0, float inQ1, float inQ2, float inQ3)
29 : q0(inQ0), q1(inQ1), q2(inQ2), q3(inQ3) {}
30
31Quaternion::~Quaternion() {}
32
33Quaternion &Quaternion::operator=(const Quaternion &quaternion) {
34 q0 = quaternion.q0;
35 q1 = quaternion.q1;
36 q2 = quaternion.q2;
37 q3 = quaternion.q3;
38 return (*this);
39}
40
41float Quaternion::GetNorm(void) const {
42 return sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
43}
44
45void Quaternion::Normalize(void) {
46 float n = GetNorm();
47 if (n != 0) {
48 q0 = q0 / n;
49 q1 = q1 / n;
50 q2 = q2 / n;
51 q3 = q3 / n;
52 }
53}
54
55void Quaternion::Conjugate(void) {
56 q1 = -q1;
57 q2 = -q2;
58 q3 = -q3;
59}
60
61Quaternion Quaternion::GetConjugate(void) {
62 return Quaternion(q0, -q1, -q2, -q3);
63}
64
65void Quaternion::GetLogarithm(Vector3D &logarithm) {
66 Normalize();
67 float v_norm = sqrtf(q1 * q1 + q2 * q2 + q3 * q3);
68
69 if (v_norm != 0) {
70 float v_arccos = acosf(q0);
71 logarithm.x = (q1 * v_arccos) / v_norm;
72 logarithm.y = (q2 * v_arccos) / v_norm;
73 logarithm.z = (q3 * v_arccos) / v_norm;
74 } else {
75 logarithm.x = 0;
76 logarithm.y = 0;
77 logarithm.z = 0;
78 }
79}
80
81Vector3D Quaternion::GetLogarithm(void) {
82 Vector3D vector;
83 GetLogarithm(vector);
84 return vector;
85}
86
87Quaternion Quaternion::GetDerivative(const Vector3D &angularSpeed) const {
88 const Quaternion Qw(0, angularSpeed.x, angularSpeed.y, angularSpeed.z);
89 return 0.5 * (*this) * Qw;
90}
91
92void Quaternion::Derivate(const Vector3D &angularSpeed) {
93 Quaternion Q = GetDerivative(angularSpeed);
94 (*this) = Q;
95}
96
97void Quaternion::ToEuler(Euler &euler) const {
98 euler.roll = atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2));
99 euler.pitch = asin(2 * (q0 * q2 - q1 * q3));
100 euler.yaw = atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3));
101}
102
103Euler Quaternion::ToEuler(void) const {
104 Euler euler;
105 ToEuler(euler);
106 return euler;
107}
108
109void Quaternion::ToRotationMatrix(RotationMatrix &matrix) const {
110 float aSq = q0 * q0;
111 float bSq = q1 * q1;
112 float cSq = q2 * q2;
113 float dSq = q3 * q3;
114 matrix.m[0][0] = aSq + bSq - cSq - dSq;
115 matrix.m[0][1] = 2.0f * (q1 * q2 - q0 * q3);
116 matrix.m[0][2] = 2.0f * (q0 * q2 + q1 * q3);
117 matrix.m[1][0] = 2.0f * (q1 * q2 + q0 * q3);
118 matrix.m[1][1] = aSq - bSq + cSq - dSq;
119 matrix.m[1][2] = 2.0f * (q2 * q3 - q0 * q1);
120 matrix.m[2][0] = 2.0f * (q1 * q3 - q0 * q2);
121 matrix.m[2][1] = 2.0f * (q0 * q1 + q2 * q3);
122 matrix.m[2][2] = aSq - bSq - cSq + dSq;
123}
124
125Quaternion &Quaternion::operator+=(const Quaternion &quaternion) {
126 q0 += quaternion.q0;
127 q1 += quaternion.q1;
128 q2 += quaternion.q2;
129 q3 += quaternion.q3;
130 return (*this);
131}
132
133Quaternion &Quaternion::operator-=(const Quaternion &quaternion) {
134 q0 -= quaternion.q0;
135 q1 -= quaternion.q1;
136 q2 -= quaternion.q2;
137 q3 -= quaternion.q3;
138 return (*this);
139}
140
141Quaternion operator+(const Quaternion &quaternionA,
142 const Quaternion &quaterniontB) {
143 return Quaternion(
144 quaternionA.q0 + quaterniontB.q0, quaternionA.q1 + quaterniontB.q1,
145 quaternionA.q2 + quaterniontB.q2, quaternionA.q3 + quaterniontB.q3);
146}
147
148Quaternion operator-(const Quaternion &quaterniontA,
149 const Quaternion &quaterniontB) {
150 return Quaternion(
151 quaterniontA.q0 - quaterniontB.q0, quaterniontA.q1 - quaterniontB.q1,
152 quaterniontA.q2 - quaterniontB.q2, quaterniontA.q3 - quaterniontB.q3);
153}
154
155Quaternion operator-(const Quaternion &quaternion) {
156 return Quaternion(-quaternion.q0, -quaternion.q1, -quaternion.q2,
157 -quaternion.q3);
158}
159
160Quaternion operator*(const Quaternion &quaterniontA,
161 const Quaternion &quaterniontB) {
162 return Quaternion(
163 quaterniontA.q0 * quaterniontB.q0 - quaterniontA.q1 * quaterniontB.q1 -
164 quaterniontA.q2 * quaterniontB.q2 - quaterniontA.q3 * quaterniontB.q3,
165 quaterniontA.q0 * quaterniontB.q1 + quaterniontA.q1 * quaterniontB.q0 +
166 quaterniontA.q2 * quaterniontB.q3 - quaterniontA.q3 * quaterniontB.q2,
167 quaterniontA.q0 * quaterniontB.q2 - quaterniontA.q1 * quaterniontB.q3 +
168 quaterniontA.q2 * quaterniontB.q0 + quaterniontA.q3 * quaterniontB.q1,
169 quaterniontA.q0 * quaterniontB.q3 + quaterniontA.q1 * quaterniontB.q2 -
170 quaterniontA.q2 * quaterniontB.q1 +
171 quaterniontA.q3 * quaterniontB.q0);
172}
173
174Quaternion operator*(float coeff, const Quaternion &quaternion) {
175 return Quaternion(coeff * quaternion.q0, coeff * quaternion.q1,
176 coeff * quaternion.q2, coeff * quaternion.q3);
177}
178
179Quaternion operator*(const Quaternion &quaternion, float coeff) {
180 return Quaternion(coeff * quaternion.q0, coeff * quaternion.q1,
181 coeff * quaternion.q2, coeff * quaternion.q3);
182}
183
184} // end namespace core
185} // end namespace flair
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