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55 lines
1.6 KiB
55 lines
1.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// Copyright 2012 Andrew Tridgell, all rights reserved. |
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// This library is free software; you can redistribute it and / or |
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// modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation; either |
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// version 2.1 of the License, or (at your option) any later version. |
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#ifndef QUATERNION_H |
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#define QUATERNION_H |
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#include <math.h> |
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class Quaternion |
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{ |
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public: |
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float q1, q2, q3, q4; |
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// constructor creates a quaternion equivalent |
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// to roll=0, pitch=0, yaw=0 |
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Quaternion() { |
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q1 = 1; q2 = q3 = q4 = 0; |
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} |
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// setting constructor |
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Quaternion(const float _q1, const float _q2, const float _q3, const float _q4) : |
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q1(_q1), q2(_q2), q3(_q3), q4(_q4) { |
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} |
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// function call operator |
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void operator ()(const float _q1, const float _q2, const float _q3, const float _q4) |
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{ |
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q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4; |
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} |
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// check if any elements are NAN |
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bool is_nan(void) |
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{ |
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return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); |
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} |
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// return the rotation matrix equivalent for this quaternion |
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void rotation_matrix(Matrix3f &m); |
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// convert a vector from earth to body frame |
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void earth_to_body(Vector3f &v); |
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// create a quaternion from Euler angles |
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void from_euler(float roll, float pitch, float yaw); |
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// create eulers from a quaternion |
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void to_euler(float *roll, float *pitch, float *yaw); |
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}; |
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#endif // QUATERNION_H
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