AP_Math: re-work quaternion functions to be more C++ like
thanks to Adam for the suggestion!
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Andrew Tridgell
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@ -69,69 +69,3 @@ void calculate_euler_angles(const Matrix3f &m, float *roll, float *pitch, float
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}
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}
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// create a quaternion from Euler angles
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void quaternion_from_euler(Quaternion &q, float roll, float pitch, float yaw)
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{
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float cr2 = cos(roll*0.5);
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float cp2 = cos(pitch*0.5);
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float cy2 = cos(yaw*0.5);
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// the sign reversal here is due to the different conventions
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// in the madgwick quaternion code and the rest of APM
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float sr2 = -sin(roll*0.5);
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float sp2 = -sin(pitch*0.5);
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float sy2 = sin(yaw*0.5);
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q.q1 = cr2*cp2*cy2 + sr2*sp2*sy2;
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q.q2 = sr2*cp2*cy2 - cr2*sp2*sy2;
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q.q3 = cr2*sp2*cy2 + sr2*cp2*sy2;
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q.q4 = cr2*cp2*sy2 - sr2*sp2*cy2;
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}
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// create eulers from a quaternion
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void euler_from_quaternion(const Quaternion &q, float *roll, float *pitch, float *yaw)
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{
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*roll = -(atan2(2.0*(q.q1*q.q2 + q.q3*q.q4),
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1 - 2.0*(q.q2*q.q2 + q.q3*q.q3)));
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// we let safe_asin() handle the singularities near 90/-90 in pitch
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*pitch = -safe_asin(2.0*(q.q1*q.q3 - q.q4*q.q2));
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*yaw = atan2(2.0*(q.q1*q.q4 + q.q2*q.q3),
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1 - 2.0*(q.q3*q.q3 + q.q4*q.q4));
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}
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// convert a quaternion to a rotation matrix
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void quaternion_to_rotation_matrix(const Quaternion &q, Matrix3f &m)
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{
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float q3q3 = q.q3 * q.q3;
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float q3q4 = q.q3 * q.q4;
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float q2q2 = q.q2 * q.q2;
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float q2q3 = q.q2 * q.q3;
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float q2q4 = q.q2 * q.q4;
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float q1q2 = q.q1 * q.q2;
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float q1q3 = q.q1 * q.q3;
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float q1q4 = q.q1 * q.q4;
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float q4q4 = q.q4 * q.q4;
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m.a.x = 1-2*(q3q3 + q4q4);
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m.a.y = 2*(q2q3 - q1q4);
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m.a.z = - 2*(q2q4 + q1q3);
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m.b.x = 2*(q2q3 + q1q4);
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m.b.y = 1-2*(q2q2 + q4q4);
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m.b.z = -2*(q3q4 - q1q2);
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m.c.x = -2*(q2q4 - q1q3);
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m.c.y = -2*(q3q4 + q1q2);
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m.c.z = 1-2*(q2q2 + q3q3);
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}
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// convert a vector in earth frame to a vector in body frame,
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// assuming body current rotation is given by a quaternion
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void quaternion_earth_to_body(const Quaternion &q, Vector3f &v)
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{
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Matrix3f m;
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// we reverse z before and afterwards because of the differing
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// quaternion conventions from APM conventions.
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v.z = -v.z;
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quaternion_to_rotation_matrix(q, m);
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v = m * v;
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v.z = -v.z;
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}
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@ -30,17 +30,4 @@ void rotation_matrix_from_euler(Matrix3f &m, float roll, float pitch, float yaw)
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// calculate euler angles from a rotation matrix
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void calculate_euler_angles(const Matrix3f &m, float *roll, float *pitch, float *yaw);
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// create a quaternion from Euler angles
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void quaternion_from_euler(Quaternion &q, float roll, float pitch, float yaw);
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// create eulers from a quaternion
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void euler_from_quaternion(const Quaternion &q, float *roll, float *pitch, float *yaw);
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// convert a quaternion to a rotation matrix
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void quaternion_to_rotation_matrix(const Quaternion &q, Matrix3f &m);
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// convert a vector in earth frame to a vector in body frame,
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// assuming body current rotation is given by a quaternion
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void quaternion_earth_to_body(const Quaternion &q, Vector3f &v);
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#endif
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85
libraries/AP_Math/quaternion.cpp
Normal file
85
libraries/AP_Math/quaternion.cpp
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@ -0,0 +1,85 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* quaternion.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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// return the rotation matrix equivalent for this quaternion
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void Quaternion::rotation_matrix(Matrix3f &m)
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{
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float q3q3 = q3 * q3;
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float q3q4 = q3 * q4;
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float q2q2 = q2 * q2;
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float q2q3 = q2 * q3;
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float q2q4 = q2 * q4;
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float q1q2 = q1 * q2;
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float q1q3 = q1 * q3;
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float q1q4 = q1 * q4;
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float q4q4 = q4 * q4;
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m.a.x = 1-2*(q3q3 + q4q4);
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m.a.y = 2*(q2q3 - q1q4);
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m.a.z = - 2*(q2q4 + q1q3);
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m.b.x = 2*(q2q3 + q1q4);
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m.b.y = 1-2*(q2q2 + q4q4);
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m.b.z = -2*(q3q4 - q1q2);
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m.c.x = -2*(q2q4 - q1q3);
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m.c.y = -2*(q3q4 + q1q2);
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m.c.z = 1-2*(q2q2 + q3q3);
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}
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// convert a vector from earth to body frame
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void Quaternion::earth_to_body(Vector3f &v)
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{
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Matrix3f m;
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// we reverse z before and afterwards because of the differing
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// quaternion conventions from APM conventions.
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v.z = -v.z;
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rotation_matrix(m);
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v = m * v;
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v.z = -v.z;
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}
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// create a quaternion from Euler angles
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void Quaternion::from_euler(float roll, float pitch, float yaw)
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{
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float cr2 = cos(roll*0.5);
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float cp2 = cos(pitch*0.5);
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float cy2 = cos(yaw*0.5);
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// the sign reversal here is due to the different conventions
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// in the madgwick quaternion code and the rest of APM
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float sr2 = -sin(roll*0.5);
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float sp2 = -sin(pitch*0.5);
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float sy2 = sin(yaw*0.5);
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q1 = cr2*cp2*cy2 + sr2*sp2*sy2;
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q2 = sr2*cp2*cy2 - cr2*sp2*sy2;
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q3 = cr2*sp2*cy2 + sr2*cp2*sy2;
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q4 = cr2*cp2*sy2 - sr2*sp2*cy2;
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}
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// create eulers from a quaternion
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void Quaternion::to_euler(float *roll, float *pitch, float *yaw)
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{
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*roll = -(atan2(2.0*(q1*q2 + q3*q4),
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1 - 2.0*(q2*q2 + q3*q3)));
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// we let safe_asin() handle the singularities near 90/-90 in pitch
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*pitch = -safe_asin(2.0*(q1*q3 - q4*q2));
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*yaw = atan2(2.0*(q1*q4 + q2*q3),
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1 - 2.0*(q3*q3 + q4*q4));
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}
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@ -33,5 +33,16 @@ public:
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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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// return the rotation matrix equivalent for this quaternion
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void rotation_matrix(Matrix3f &m);
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// convert a vector from earth to body frame
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void earth_to_body(Vector3f &v);
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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);
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};
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#endif // QUATERNION_H
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