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: 2016/02/09
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6 | // filename: RotationMatrix.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 a rotation matrix
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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 "RotationMatrix.h"
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19 | #include "Object.h"
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20 | #include "Euler.h"
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21 | #include "Quaternion.h"
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22 | #include "math.h"
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23 |
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24 | using std::max;
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25 |
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26 | namespace flair {
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27 | namespace core {
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28 |
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29 | RotationMatrix::RotationMatrix() {
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30 | for (int i = 0; i < 3; i++) {
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31 | for (int j = 0; j < 3; j++) {
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32 | if (i == j) {
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33 | m[i][j] = 1;
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34 | } else {
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35 | m[i][j] = 0;
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36 | }
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37 | }
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38 | }
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39 | }
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40 |
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41 | RotationMatrix::~RotationMatrix() {}
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42 |
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43 | void RotationMatrix::ToEuler(Euler &euler) const {
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44 | euler.roll = atanf(m[1][2] / m[2][2]);
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45 | euler.pitch = asinf(-m[0][2]);
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46 | euler.yaw = atan2f(m[0][1], m[0][0]);
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47 | }
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48 |
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49 | Euler RotationMatrix::ToEuler(void) const {
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50 | Euler euler;
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51 | ToEuler(euler);
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52 | return euler;
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53 | }
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54 |
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55 | //from 3dmgx3-25 manual
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56 | void RotationMatrix::ToQuaternion(Quaternion &quaternion) const {
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57 | float test1 = m[0][0] + m[1][1] + m[2][2];
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58 | float test2 = m[0][0] - m[1][1] - m[2][2];
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59 | float test3 = -m[0][0] + m[1][1] - m[2][2];
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60 | float test4 = -m[0][0] - m[1][1] + m[2][2];
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61 |
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62 | if(test1==max(max(test1,test2),max(test3,test4))) {
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63 | float s=2*sqrtf(1+test1);
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64 | quaternion.q0 = s/4.;
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65 | quaternion.q1 = ( m[1][2] - m[2][1] ) / s;
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66 | quaternion.q2 = ( m[2][0] - m[0][2] ) / s;
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67 | quaternion.q3 = ( m[0][1] - m[1][0] ) / s;
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68 | }
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69 |
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70 | if(test2==max(max(test1,test2),max(test3,test4))) {
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71 | float s=2*sqrtf(1+test2);
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72 | quaternion.q0 = ( m[2][1] - m[1][2] ) / s;
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73 | quaternion.q1 = -s/4.;
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74 | quaternion.q2 = -( m[1][0] + m[0][1] ) / s;
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75 | quaternion.q3 = -( m[0][2] + m[2][0] ) / s;
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76 | }
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77 |
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78 | if(test3==max(max(test1,test2),max(test3,test4))) {
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79 | float s=2*sqrtf(1+test3);
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80 | quaternion.q0 = (m[0][2] - m[2][0] ) / s;
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81 | quaternion.q1 = -( m[1][0] + m[0][1] ) / s;
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82 | quaternion.q2 = -s/4.;
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83 | quaternion.q3 = -( m[2][1] + m[1][2] ) / s;
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84 | }
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85 |
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86 | if(test4==max(max(test1,test2),max(test3,test4))) {
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87 | float s=2*sqrtf(1+test4);
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88 | quaternion.q0 = (m[1][0] - m[0][1] ) / s;
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89 | quaternion.q1 = -( m[0][2] + m[2][0] ) / s;
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90 | quaternion.q2 = -( m[2][1] + m[1][2] ) / s;
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91 | quaternion.q3 = -s/4.;
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92 | }
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93 | quaternion.Normalize();
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94 | }
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95 |
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96 | Quaternion RotationMatrix::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 &RotationMatrix::operator()(size_t row, size_t col) {
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103 | if (row < 3 && col < 3) {
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104 | return m[row][col];
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105 | } else {
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106 | Printf("RotationMatrix: index (%i,%i) out of bound\n", row, col);
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107 | return m[2][2];
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108 | }
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109 | }
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110 |
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111 | const float &RotationMatrix::operator()(size_t row, size_t col) const {
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112 | if (row < 3 && col < 3) {
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113 | return m[row][col];
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114 | } else {
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115 | Printf("RotationMatrix: index (%i,%i) out of bound\n", row, col);
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116 | return m[2][2];
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117 | }
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118 | }
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119 |
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120 | } // end namespace core
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121 | } // end namespace flair
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