uncrustify libraries/AP_Math/quaternion.h

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uncrustify 2012-08-16 23:20:14 -07:00 committed by Pat Hickey
parent 140aed0770
commit 6016a241b0
1 changed files with 26 additions and 19 deletions

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@ -15,34 +15,41 @@
class Quaternion class Quaternion
{ {
public: public:
float q1, q2, q3, q4; float q1, q2, q3, q4;
// constructor creates a quaternion equivalent // constructor creates a quaternion equivalent
// to roll=0, pitch=0, yaw=0 // to roll=0, pitch=0, yaw=0
Quaternion() { q1 = 1; q2 = q3 = q4 = 0; } Quaternion() {
q1 = 1; q2 = q3 = q4 = 0;
}
// setting constructor // setting constructor
Quaternion(const float _q1, const float _q2, const float _q3, const float _q4): Quaternion(const float _q1, const float _q2, const float _q3, const float _q4) :
q1(_q1), q2(_q2), q3(_q3), q4(_q4) {} q1(_q1), q2(_q2), q3(_q3), q4(_q4) {
}
// function call operator // function call operator
void operator ()(const float _q1, const float _q2, const float _q3, const float _q4) void operator ()(const float _q1, const float _q2, const float _q3, const float _q4)
{ q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4; } {
q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4;
}
// check if any elements are NAN // check if any elements are NAN
bool is_nan(void) bool is_nan(void)
{ return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); } {
return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4);
}
// return the rotation matrix equivalent for this quaternion // return the rotation matrix equivalent for this quaternion
void rotation_matrix(Matrix3f &m); void rotation_matrix(Matrix3f &m);
// convert a vector from earth to body frame // convert a vector from earth to body frame
void earth_to_body(Vector3f &v); void earth_to_body(Vector3f &v);
// create a quaternion from Euler angles // create a quaternion from Euler angles
void from_euler(float roll, float pitch, float yaw); void from_euler(float roll, float pitch, float yaw);
// create eulers from a quaternion // create eulers from a quaternion
void to_euler(float *roll, float *pitch, float *yaw); void to_euler(float *roll, float *pitch, float *yaw);
}; };
#endif // QUATERNION_H #endif // QUATERNION_H