Changeset 99 in pacpusframework

Timestamp:

05/28/13 17:55:14 (11 years ago)

Author:

morasjul

Message:

Add function Geodesie::yprenuToMatrix

Location:

branches/2.0-beta1

Files:

• cmake/PacpusUtilities.cmake (modified) (1 diff)
• include/Pacpus/PacpusTools/geodesie.h (modified) (2 diffs)
• src/PacpusLib/CMakeLists.txt (modified) (1 diff)
• src/PacpusTools/src/geodesie.cpp (modified) (1 diff)

branches/2.0-beta1/cmake/PacpusUtilities.cmake

@@ -229 +229 @@
     endif()
 endfunction()
+
+# ========================================
+# Get sub directories
+# ========================================
+MACRO(SUBDIRLIST result curdir)
+  FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
+  SET(dirlist "")
+  FOREACH(child ${children})
+    IF(IS_DIRECTORY ${curdir}/${child})
+        SET(dirlist ${dirlist} ${child})
+    ENDIF()
+  ENDFOREACH()
+  SET(${result} ${dirlist})
+ENDMACRO()

branches/2.0-beta1/include/Pacpus/PacpusTools/geodesie.h

@@ -18 +18 @@
 #include <iostream>
 #include <vector>
+
+#include <QMatrix4x4>
+#include <QVector3D>
 
 namespace Geodesie {
@@ -204 +207 @@
 }
 
+QMatrix4x4 yprenuToMatrix(QVector3D angle, QVector3D position);
+
 } // namespace Geodesie
 

branches/2.0-beta1/src/PacpusLib/CMakeLists.txt

@@ -96 +96 @@
 
 if(UNIX)
-        set(LIBS optimized FileLib debug FileLib_d)
+        set(LIBS FileLib)#optimized FileLib debug FileLib_d)
 else()
     set(LIBS 

branches/2.0-beta1/src/PacpusTools/src/geodesie.cpp

@@ -343 +343 @@
     C.Apply(x,y,z, e,n,u);
 }
+
+QMatrix4x4 Geodesie::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);
+}