#ifndef ucoo_math_quaternion_tcc #define ucoo_math_quaternion_tcc // ucoolib - Microcontroller object oriented library. {{{ // // Copyright (C) 2015 Nicolas Schodet // // Permission is hereby granted, free of charge, to any person obtaining a // copy of this software and associated documentation files (the "Software"), // to deal in the Software without restriction, including without limitation // the rights to use, copy, modify, merge, publish, distribute, sublicense, // and/or sell copies of the Software, and to permit persons to whom the // Software is furnished to do so, subject to the following conditions: // // The above copyright notice and this permission notice shall be included in // all copies or substantial portions of the Software. // // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER // DEALINGS IN THE SOFTWARE. // // }}} #include namespace ucoo { template constexpr Quaternion::Quaternion () { } template constexpr Quaternion::Quaternion (T w_, T x_, T y_, T z_) : w (w_), x (x_), y (y_), z (z_) { } template Quaternion::Quaternion (const YawPitchRoll &ypr) { T cyaw = std::cos (ypr.yaw / 2); T syaw = std::sin (ypr.yaw / 2); T cpitch = std::cos (ypr.pitch / 2); T spitch = std::sin (ypr.pitch / 2); T croll = std::cos (ypr.roll / 2); T sroll = std::sin (ypr.roll / 2); w = cpitch * croll * cyaw + spitch * sroll * syaw; x = cpitch * cyaw * sroll - croll * spitch * syaw; y = cpitch * sroll * syaw + croll * cyaw * spitch; z = cpitch * croll * syaw - cyaw * spitch * sroll; } template vect3d Quaternion::rotate (const vect3d &v) const { T nx = w*w*v.x + 2*y*w*v.z - 2*z*w*v.y + x*x*v.x + 2*y*x*v.y + 2*z*x*v.z - z*z*v.x - y*y*v.x; T ny = 2*x*y*v.x + y*y*v.y + 2*z*y*v.z + 2*w*z*v.x - z*z*v.y + w*w*v.y - 2*x*w*v.z - x*x*v.y; T nz = 2*x*z*v.x + 2*y*z*v.y + z*z*v.z - 2*w*y*v.x - y*y*v.z + 2*w*x*v.y - x*x*v.z + w*w*v.z; return vect3d (nx, ny, nz); } template T Quaternion::yaw () const { return std::atan2 (2 * (x * y + w * z), w * w + x * x - y * y - z * z); } template T Quaternion::pitch () const { return std::asin (-2 * (x * z - w * y)); } template T Quaternion::roll () const { return std::atan2 (2 * (y * z + w * x), w * w - x * x - y * y + z * z); } template Quaternion Quaternion::operator* (const Quaternion &r) const { return Quaternion ( w * r.w - x * r.x - y * r.y - z * r.z, w * r.x + x * r.w + y * r.z - z * r.y, w * r.y - x * r.z + y * r.w + z * r.x, w * r.z + x * r.y - y * r.x + z * r.w ); } } // namespace ucoo #endif // ucoo_math_quaternion_tcc