mirror of https://github.com/ArduPilot/ardupilot
148 lines
3.8 KiB
C++
148 lines
3.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Copyright 2012 Andrew Tridgell, all rights reserved.
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// Refactored by Jonathan Challinger
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#pragma once
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#include <cmath>
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#if MATH_CHECK_INDEXES
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#include <assert.h>
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#endif
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#include <math.h>
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class Quaternion {
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public:
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float q1, q2, q3, q4;
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// constructor creates a quaternion equivalent
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// to roll=0, pitch=0, yaw=0
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Quaternion()
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{
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q1 = 1;
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q2 = q3 = q4 = 0;
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}
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// setting constructor
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Quaternion(const float _q1, const float _q2, const float _q3, const float _q4) :
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q1(_q1), q2(_q2), q3(_q3), q4(_q4)
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{
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}
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// setting constructor
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Quaternion(const float _q[4]) :
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q1(_q[0]), q2(_q[1]), q3(_q[2]), q4(_q[3])
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{
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}
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// function call operator
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void operator()(const float _q1, const float _q2, const float _q3, const float _q4)
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{
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q1 = _q1;
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q2 = _q2;
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q3 = _q3;
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q4 = _q4;
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}
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// check if any elements are NAN
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bool is_nan(void) const
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{
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return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4);
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}
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// return the rotation matrix equivalent for this quaternion
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void rotation_matrix(Matrix3f &m) const;
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// return the rotation matrix equivalent for this quaternion after normalization
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void rotation_matrix_norm(Matrix3f &m) const;
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void from_rotation_matrix(const Matrix3f &m);
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// convert a vector from earth to body frame
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void earth_to_body(Vector3f &v) const;
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// create a quaternion from Euler angles
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void from_euler(float roll, float pitch, float yaw);
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void from_vector312(float roll ,float pitch, float yaw);
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void to_axis_angle(Vector3f &v);
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void from_axis_angle(Vector3f v);
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void from_axis_angle(const Vector3f &axis, float theta);
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void rotate(const Vector3f &v);
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void from_axis_angle_fast(Vector3f v);
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void from_axis_angle_fast(const Vector3f &axis, float theta);
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void rotate_fast(const Vector3f &v);
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// get euler roll angle
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float get_euler_roll() const;
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// get euler pitch angle
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float get_euler_pitch() const;
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// get euler yaw angle
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float get_euler_yaw() const;
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// create eulers from a quaternion
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void to_euler(float &roll, float &pitch, float &yaw) const;
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// create eulers from a quaternion
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Vector3f to_vector312(void) const;
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float length(void) const;
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void normalize();
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// initialise the quaternion to no rotation
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void initialise()
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{
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q1 = 1.0f;
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q2 = q3 = q4 = 0.0f;
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}
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Quaternion inverse(void) const;
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// allow a quaternion to be used as an array, 0 indexed
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float & operator[](uint8_t i)
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{
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float *_v = &q1;
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#if MATH_CHECK_INDEXES
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assert(i < 4);
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#endif
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return _v[i];
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}
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const float & operator[](uint8_t i) const
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{
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const float *_v = &q1;
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#if MATH_CHECK_INDEXES
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assert(i < 4);
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#endif
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return _v[i];
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}
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Quaternion operator*(const Quaternion &v) const;
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Quaternion &operator*=(const Quaternion &v);
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Quaternion operator/(const Quaternion &v) const;
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// angular difference between quaternions
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Quaternion angular_difference(const Quaternion &v) const;
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};
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