Changeset 15 in flairsrc for trunk/lib/FlairCore/src/Euler.h
 Timestamp:
 Apr 8, 2016, 3:40:57 PM (8 years ago)
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trunk/lib/FlairCore/src/Euler.h
r2 r15 14 14 #define EULER_H 15 15 16 namespace flair { namespace core { 17 class Quaternion; 16 namespace flair { 17 namespace core { 18 class Quaternion; 18 19 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 Euler(float roll=0,float pitch=0,float yaw=0);20 /*! \class Euler 21 * 22 * \brief Class defining euler angles 23 * 24 * Euler angles are expressed in radians. 25 * 26 */ 27 class Euler { 28 public: 29 /*! 30 * \brief Constructor 31 * 32 * Construct euler angles using specified values. 33 * 34 * \param roll roll value 35 * \param pitch pitch value 36 * \param yaw yaw value 37 */ 38 Euler(float roll = 0, float pitch = 0, float yaw = 0); 38 39 39 40 41 42 43 40 /*! 41 * \brief Destructor 42 * 43 */ 44 ~Euler(); 44 45 45 46 47 48 49 50 //todo: passer par un quaternion51 //void RotateX(float value);46 /*! 47 * \brief x axis rotation 48 * 49 * \param value rotation value in radians 50 */ 51 // todo: passer par un quaternion 52 // void RotateX(float value); 52 53 53 54 55 56 57 58 //void RotateXDeg(float value);54 /*! 55 * \brief x axis rotation 56 * 57 * \param value rotation value in degrees 58 */ 59 // void RotateXDeg(float value); 59 60 60 61 62 63 64 65 //void RotateY(float value);61 /*! 62 * \brief y axis rotation 63 * 64 * \param value rotation value in radians 65 */ 66 // void RotateY(float value); 66 67 67 68 69 70 71 72 //void RotateYDeg(float value);68 /*! 69 * \brief y axis rotation 70 * 71 * \param value rotation value in degrees 72 */ 73 // void RotateYDeg(float value); 73 74 74 75 76 77 78 79 //void RotateZ(float value);75 /*! 76 * \brief z axis rotation 77 * 78 * \param value rotation value in radians 79 */ 80 // void RotateZ(float value); 80 81 81 82 83 84 85 86 //void RotateZDeg(float value);82 /*! 83 * \brief z axis rotation 84 * 85 * \param value rotation value in degrees 86 */ 87 // void RotateZDeg(float value); 87 88 88 89 90 91 92 93 89 /*! 90 * \brief Convert to quaternion 91 * 92 * \param quaternion output quaternion 93 */ 94 void ToQuaternion(Quaternion &quaternion) const; 94 95 95 96 97 98 99 100 101 102 103 104 105 106 107 108 96 /*! 97 * \brief Convert to quaternion 98 * 99 * \return quaternion 100 */ 101 Quaternion ToQuaternion(void) const; 102 /*! 103 * \brief Convert from radian to degree 104 * 105 * \param radianValue value in radian 106 * 107 * \return value in degree 108 */ 109 static float ToDegree(float radianValue); 109 110 110 111 112 113 114 115 116 117 111 /*! 112 * \brief Convert from degree to radian 113 * 114 * \param degreeValue value in degree 115 * 116 * \return value in radian 117 */ 118 static float ToRadian(float degreeValue); 118 119 119 120 121 122 123 124 125 126 127 128 120 /*! 121 * \brief Compute yaw distance 122 * 123 * Compute yaw distance from given angle. This is the minimum distance. 124 * 125 * \param angle starting angle 126 * 127 * \return value distance in radian 128 */ 129 float YawDistanceFrom(float angle) const; 129 130 130 131 132 133 131 /*! 132 * \brief roll value 133 */ 134 float roll; 134 135 135 136 137 138 136 /*! 137 * \brief pitch value 138 */ 139 float pitch; 139 140 140 141 142 143 141 /*! 142 * \brief yaw value 143 */ 144 float yaw; 144 145 145 Euler& operator=(const Euler &euler); 146 147 }; 146 Euler &operator=(const Euler &euler); 147 }; 148 148 149 149 } // end namespace core
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