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AP_Math: add quaternion::angular_difference

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This commit is contained in:
Randy Mackay 2019-02-20 14:17:23 +09:00
parent 72fabb5cd3
commit 07f7d793df
2 changed files with 9 additions and 0 deletions
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6
libraries/AP_Math/quaternion.cpp
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@ -366,3 +366,9 @@ Quaternion Quaternion::operator/(const Quaternion &v) const
ret.q4 = (rquat0*quat3 - rquat1*quat2 + rquat2*quat1 - rquat3*quat0);
return ret;
}
// angular difference in radians between quaternions
Quaternion Quaternion::angular_difference(const Quaternion &v) const
{
return v.inverse() * *this;
}

3
libraries/AP_Math/quaternion.h
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@ -141,4 +141,7 @@ public:
Quaternion operator*(const Quaternion &v) const;
Quaternion &operator*=(const Quaternion &v);
Quaternion operator/(const Quaternion &v) const;
// angular difference between quaternions
Quaternion angular_difference(const Quaternion &v) const;
};