mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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#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() {
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q1 = 1; 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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// 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; q2 = _q2; q3 = _q3; q4 = _q4;
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}
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// check if any elements are NAN
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bool is_nan(void)
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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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// 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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// create eulers from a quaternion
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void to_euler(float *roll, float *pitch, float *yaw) 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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float *_v = &q1;
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ASSERT(i >= 0 && i < 4);
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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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const float *_v = &q1;
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ASSERT(i >= 0 && i < 4);
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return _v[i];
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}
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};
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#endif // QUATERNION_H
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