Changeset 212 in pacpusframework for trunk/src/PacpusTools

Timestamp:

Nov 6, 2013, 11:51:51 AM (11 years ago)

Author:

Marek Kurdej

Message:

Geodesie: minor fixes.

File:

• trunk/src/PacpusTools/src/geodesie.cpp (modified) (2 diffs)

trunk/src/PacpusTools/src/geodesie.cpp

@@ -10 +10 @@
 
 #include <fstream>
+#include <QMatrix4x4>
+#include <QVector3D>
 
 using ::boost::math::constants::pi;
@@ -413 +415 @@
 }
 
-//QMatrix4x4 Geodesy::yprenuToMatrix(QVector3D angle, QVector3D position)
-//{
-//    float c1 = cos(angle.x());
-//    float c2 = cos(angle.y());
-//    float c3 = cos(angle.z());
-//
-//    float s1 = sin(angle.x());
-//    float s2 = sin(angle.y());
-//    float s3 = sin(angle.z());
-//
-//    // Source : https://en.wikipedia.org/wiki/Euler_angles
-//    return QMatrix4x4(c1 * c2, c1 * s2 * s3 - c3 * s1, s1 * s3 + c1 * c3 * s2, position.x(),
-//                      c2 * s1, c1 * c3 + s1 * s2 * s3, c3 * s1 * s2 - c1 * s3, position.y(),
-//                      -s2, c2 * s3, c2 * c3, position.z(),
-//                      0, 0, 0, 1);
-//}
+QMatrix4x4 Geodesy::yprenuToMatrix(QVector3D angle, QVector3D position)
+{
+    float c1 = cos(angle.x());
+    float c2 = cos(angle.y());
+    float c3 = cos(angle.z());
+
+    float s1 = sin(angle.x());
+    float s2 = sin(angle.y());
+    float s3 = sin(angle.z());
+
+    // Source : https://en.wikipedia.org/wiki/Euler_angles
+    return QMatrix4x4(c1 * c2, c1 * s2 * s3 - c3 * s1, s1 * s3 + c1 * c3 * s2, position.x(),
+                      c2 * s1, c1 * c3 + s1 * s2 * s3, c3 * s1 * s2 - c1 * s3, position.y(),
+                      -s2, c2 * s3, c2 * c3, position.z(),
+                      0, 0, 0, 1);
+}