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38 lines
1.3 KiB
38 lines
1.3 KiB
#include <matrix/math.hpp> |
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#pragma once |
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// converts Tait-Bryan 312 sequence of rotations from frame 1 to frame 2 |
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// to the corresponding rotation matrix that rotates from frame 2 to frame 1 |
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// rot312(0) - First rotation is a RH rotation about the Z axis (rad) |
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// rot312(1) - Second rotation is a RH rotation about the X axis (rad) |
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// rot312(2) - Third rotation is a RH rotation about the Y axis (rad) |
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// See http://www.atacolorado.com/eulersequences.doc |
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matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312); |
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// Use Kahan summation algorithm to get the sum of "sum_previous" and "input". |
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// This function relies on the caller to be responsible for keeping a copy of |
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// "accumulator" and passing this value at the next iteration. |
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// Ref: https://en.wikipedia.org/wiki/Kahan_summation_algorithm |
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float kahanSummation(float sum_previous, float input, float &accumulator); |
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// calculate the inverse rotation matrix from a quaternion rotation |
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// this produces the inverse rotation to that produced by the math library quaternion to Dcmf operator |
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matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat); |
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namespace ecl{ |
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inline float powf(float x, int exp) |
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{ |
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float ret; |
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if (exp > 0) { |
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ret = x; |
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for (int count = 1; count < exp; count++) { |
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ret *= x; |
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} |
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return ret; |
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} else if (exp < 0) { |
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return 1.0f / ecl::powf(x, -exp); |
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} |
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return 1.0f; |
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} |
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}
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