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