mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.5 KiB
C++
138 lines
3.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* vector3.cpp
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* Copyright (C) Andrew Tridgell 2012
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Math.h"
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#define HALF_SQRT_2 0.70710678118654757
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// rotate a vector by a standard rotation, attempting
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// to use the minimum number of floating point operations
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template <typename T>
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void Vector3<T>::rotate(enum Rotation rotation)
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{
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T tmp;
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switch (rotation) {
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case ROTATION_NONE:
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case ROTATION_MAX:
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return;
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case ROTATION_YAW_45: {
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tmp = HALF_SQRT_2*(x - y);
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y = HALF_SQRT_2*(x + y);
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x = tmp;
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return;
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}
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case ROTATION_YAW_90: {
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tmp = x; x = -y; y = tmp;
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return;
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}
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case ROTATION_YAW_135: {
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tmp = -HALF_SQRT_2*(x + y);
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y = HALF_SQRT_2*(x - y);
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x = tmp;
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return;
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}
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case ROTATION_YAW_180:
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x = -x; y = -y;
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return;
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case ROTATION_YAW_225: {
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tmp = HALF_SQRT_2*(y - x);
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y = -HALF_SQRT_2*(x + y);
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x = tmp;
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return;
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}
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case ROTATION_YAW_270: {
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tmp = x; x = y; y = -tmp;
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return;
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}
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case ROTATION_YAW_315: {
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tmp = HALF_SQRT_2*(x + y);
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y = HALF_SQRT_2*(y - x);
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x = tmp;
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return;
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}
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case ROTATION_ROLL_180: {
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y = -y; z = -z;
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return;
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}
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case ROTATION_ROLL_180_YAW_45: {
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tmp = HALF_SQRT_2*(x + y);
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y = HALF_SQRT_2*(x - y);
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x = tmp; z = -z;
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return;
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}
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case ROTATION_ROLL_180_YAW_90: {
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tmp = x; x = y; y = tmp; z = -z;
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return;
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}
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case ROTATION_ROLL_180_YAW_135: {
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tmp = HALF_SQRT_2*(y - x);
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y = HALF_SQRT_2*(y + x);
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x = tmp; z = -z;
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return;
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}
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case ROTATION_PITCH_180: {
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x = -x; z = -z;
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return;
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}
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case ROTATION_ROLL_180_YAW_225: {
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tmp = -HALF_SQRT_2*(x + y);
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y = HALF_SQRT_2*(y - x);
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x = tmp; z = -z;
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return;
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}
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case ROTATION_ROLL_180_YAW_270: {
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tmp = x; x = -y; y = -tmp; z = -z;
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return;
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}
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case ROTATION_ROLL_180_YAW_315: {
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tmp = HALF_SQRT_2*(x - y);
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y = -HALF_SQRT_2*(x + y);
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x = tmp; z = -z;
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return;
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}
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}
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}
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// vector cross product
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template <typename T>
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Vector3<T> Vector3<T>::operator %(const Vector3<T> &v) const
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{
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Vector3<T> temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);
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return temp;
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}
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// dot product
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template <typename T>
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T Vector3<T>::operator *(const Vector3<T> &v) const
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{
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return x*v.x + y*v.y + z*v.z;
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}
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template <typename T>
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float Vector3<T>::length(void) const
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{
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return (T)sqrt(*this * *this);
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}
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// only define for signed numbers
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template void Vector3<float>::rotate(enum Rotation);
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template float Vector3<float>::length(void) const;
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template Vector3<float> Vector3<float>::operator %(const Vector3<float> &v) const;
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template float Vector3<float>::operator *(const Vector3<float> &v) const;
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