Changeset 99 in pacpusframework for branches/2.0-beta1/src/PacpusTools

Timestamp:

May 28, 2013, 5:55:14 PM (11 years ago)

Author:

morasjul

Message:

Add function Geodesie::yprenuToMatrix

File:

• branches/2.0-beta1/src/PacpusTools/src/geodesie.cpp (modified) (1 diff)

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);
+}