ardupilot/libraries/AP_Math/quaternion.h

192 lines
5.9 KiB
C
Raw Normal View History

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
// Copyright 2012 Andrew Tridgell, all rights reserved.
2014-10-13 00:41:13 -03:00
// Refactored by Jonathan Challinger
#pragma once
#include <cmath>
#if MATH_CHECK_INDEXES
#include <assert.h>
#endif
#include <math.h>
2021-05-04 08:12:23 -03:00
template <typename T>
class QuaternionT {
public:
2021-05-04 08:12:23 -03:00
T q1, q2, q3, q4;
// constructor creates a quaternion equivalent
// to roll=0, pitch=0, yaw=0
2021-05-04 08:12:23 -03:00
QuaternionT<T>()
{
q1 = 1;
q2 = q3 = q4 = 0;
}
// setting constructor
2021-05-04 08:12:23 -03:00
QuaternionT<T>(const T _q1, const T _q2, const T _q3, const T _q4) :
q1(_q1), q2(_q2), q3(_q3), q4(_q4)
{
}
// setting constructor
2021-05-04 08:12:23 -03:00
QuaternionT<T>(const T _q[4]) :
q1(_q[0]), q2(_q[1]), q3(_q[2]), q4(_q[3])
{
}
// function call operator
2021-05-04 08:12:23 -03:00
void operator()(const T _q1, const T _q2, const T _q3, const T _q4)
{
q1 = _q1;
q2 = _q2;
q3 = _q3;
q4 = _q4;
}
// check if any elements are NAN
bool is_nan(void) const WARN_IF_UNUSED
{
return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4);
}
// populate the supplied rotation matrix equivalent from this quaternion
2013-12-29 23:07:47 -04:00
void rotation_matrix(Matrix3f &m) const;
2021-05-04 08:12:23 -03:00
void rotation_matrix(Matrix3d &m) const;
// make this quaternion equivalent to the supplied matrix
2021-05-04 08:12:23 -03:00
void from_rotation_matrix(const Matrix3<T> &m);
// create a quaternion from a given rotation
void from_rotation(enum Rotation rotation);
// rotate this quaternion by the given rotation
void rotate(enum Rotation rotation);
// convert a vector from earth to body frame
2021-05-04 08:12:23 -03:00
void earth_to_body(Vector3<T> &v) const;
// create a quaternion from Euler angles
2021-05-04 08:12:23 -03:00
void from_euler(T roll, T pitch, T yaw);
void from_euler(const Vector3<T> &v);
// create a quaternion from Euler angles applied in yaw, roll, pitch order
// instead of the normal yaw, pitch, roll order
2021-05-04 08:12:23 -03:00
void from_vector312(T roll, T pitch, T yaw);
// convert this quaternion to a rotation vector where the direction of the vector represents
// the axis of rotation and the length of the vector represents the angle of rotation
2021-05-04 08:12:23 -03:00
void to_axis_angle(Vector3<T> &v) const;
2014-10-13 00:41:13 -03:00
// create a quaternion from a rotation vector where the direction of the vector represents
// the axis of rotation and the length of the vector represents the angle of rotation
2021-05-04 08:12:23 -03:00
void from_axis_angle(Vector3<T> v);
2014-10-13 00:41:13 -03:00
// create a quaternion from its axis-angle representation
// the axis vector must be length 1. the rotation angle theta is in radians
2021-05-04 08:12:23 -03:00
void from_axis_angle(const Vector3<T> &axis, T theta);
2014-10-13 00:41:13 -03:00
// rotate by the provided rotation vector
2021-05-04 08:12:23 -03:00
void rotate(const Vector3<T> &v);
2014-10-13 00:41:13 -03:00
// create a quaternion from a rotation vector
// only use with small angles. I.e. length of v should less than 0.17 radians (i.e. 10 degrees)
2021-05-04 08:12:23 -03:00
void from_axis_angle_fast(Vector3<T> v);
2014-10-13 00:41:13 -03:00
// create a quaternion from its axis-angle representation
// the axis vector must be length 1, theta should less than 0.17 radians (i.e. 10 degrees)
2021-05-04 08:12:23 -03:00
void from_axis_angle_fast(const Vector3<T> &axis, T theta);
2014-10-13 00:41:13 -03:00
// rotate by the provided rotation vector
// only use with small angles. I.e. length of v should less than 0.17 radians (i.e. 10 degrees)
2021-05-04 08:12:23 -03:00
void rotate_fast(const Vector3<T> &v);
2014-10-13 00:41:13 -03:00
// get euler roll angle
2021-05-04 08:12:23 -03:00
T get_euler_roll() const;
// get euler pitch angle
2021-05-04 08:12:23 -03:00
T get_euler_pitch() const;
// get euler yaw angle
2021-05-04 08:12:23 -03:00
T get_euler_yaw() const;
2014-10-13 00:41:13 -03:00
// create eulers from a quaternion
2014-10-13 00:41:13 -03:00
void to_euler(float &roll, float &pitch, float &yaw) const;
2021-05-04 08:12:23 -03:00
void to_euler(double &roll, double &pitch, double &yaw) const;
// create eulers from a quaternion
2021-05-04 08:12:23 -03:00
Vector3<T> to_vector312(void) const;
2021-05-04 08:12:23 -03:00
T length(void) const;
void normalize();
2015-05-01 03:54:54 -03:00
// initialise the quaternion to no rotation
void initialise()
{
q1 = 1.0f;
q2 = q3 = q4 = 0.0f;
}
2015-05-01 03:54:54 -03:00
2021-05-04 08:12:23 -03:00
QuaternionT<T> inverse(void) const;
2014-10-13 00:41:13 -03:00
// reverse the rotation of this quaternion
void invert();
// allow a quaternion to be used as an array, 0 indexed
2021-05-04 08:12:23 -03:00
T & operator[](uint8_t i)
{
2021-05-04 08:12:23 -03:00
T *_v = &q1;
#if MATH_CHECK_INDEXES
assert(i < 4);
#endif
return _v[i];
}
2021-05-04 08:12:23 -03:00
const T & operator[](uint8_t i) const
{
2021-05-04 08:12:23 -03:00
const T *_v = &q1;
#if MATH_CHECK_INDEXES
assert(i < 4);
#endif
return _v[i];
}
2014-10-13 00:41:13 -03:00
2021-05-04 08:12:23 -03:00
QuaternionT<T> operator*(const QuaternionT<T> &v) const;
Vector3<T> operator*(const Vector3<T> &v) const;
QuaternionT<T> &operator*=(const QuaternionT<T> &v);
QuaternionT<T> operator/(const QuaternionT<T> &v) const;
// angular difference between quaternions
2021-05-04 08:12:23 -03:00
QuaternionT<T> angular_difference(const QuaternionT<T> &v) const;
// absolute (e.g. always positive) earth-frame roll-pitch difference (in radians) between this Quaternion and another
2021-05-04 08:12:23 -03:00
T roll_pitch_difference(const QuaternionT<T> &v) const;
// double/float conversion
QuaternionT<double> todouble(void) const {
return QuaternionT<double>(q1,q2,q3,q4);
}
QuaternionT<float> tofloat(void) const {
return QuaternionT<float>(q1,q2,q3,q4);
}
};
2021-05-04 08:12:23 -03:00
typedef QuaternionT<float> Quaternion;
typedef QuaternionT<double> QuaternionD;