mirror of https://github.com/ArduPilot/ardupilot
37 lines
1019 B
C
37 lines
1019 B
C
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||
|
|
||
|
// Copyright 2012 Andrew Tridgell, all rights reserved.
|
||
|
|
||
|
// This library is free software; you can redistribute it and / or
|
||
|
// modify it under the terms of the GNU Lesser General Public
|
||
|
// License as published by the Free Software Foundation; either
|
||
|
// version 2.1 of the License, or (at your option) any later version.
|
||
|
|
||
|
#ifndef QUATERNION_H
|
||
|
#define QUATERNION_H
|
||
|
|
||
|
#include <math.h>
|
||
|
|
||
|
class Quaternion
|
||
|
{
|
||
|
public:
|
||
|
float q1, q2, q3, q4;
|
||
|
|
||
|
// constructor
|
||
|
Quaternion() { q1 = 1; q2 = q3 = q4 = 0; }
|
||
|
|
||
|
// setting constructor
|
||
|
Quaternion(const float _q1, const float _q2, const float _q3, const float _q4):
|
||
|
q1(_q1), q2(_q2), q3(_q3), q4(_q4) {}
|
||
|
|
||
|
// function call operator
|
||
|
void operator ()(const float _q1, const float _q2, const float _q3, const float _q4)
|
||
|
{ q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4; }
|
||
|
|
||
|
// check if any elements are NAN
|
||
|
bool is_nan(void)
|
||
|
{ return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); }
|
||
|
|
||
|
};
|
||
|
#endif // QUATERNION_H
|