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/**
* @file Quaternion.cpp
*
* math vector
*/
#include <systemlib/test/test.hpp>
#include "Quaternion.hpp"
#include "Dcm.hpp"
#include "EulerAngles.hpp"
namespace math
{
Quaternion::Quaternion() :
Vector(4)
{
setA(1.0f);
setB(0.0f);
setC(0.0f);
setD(0.0f);
}
Quaternion::Quaternion(float a, float b,
float c, float d) :
Vector(4)
{
setA(a);
setB(b);
setC(c);
setD(d);
}
Quaternion::Quaternion(const float * data) :
Vector(4,data)
{
}
Quaternion::Quaternion(const Vector & v) :
Vector(v)
{
}
Quaternion::Quaternion(const Dcm & dcm) :
Vector(4)
{
setA(0.5f*sqrtf(1 + dcm(0,0) +
dcm(1,1) + dcm(2,2)));
setB((dcm(2,1) - dcm(1,2))/
(4*getA()));
setC((dcm(0,2) - dcm(2,0))/
(4*getA()));
setD((dcm(1,0) - dcm(0,1))/
(4*getA()));
}
Quaternion::Quaternion(const EulerAngles & euler) :
Vector(4)
{
float cosPhi_2 = cosf(euler.getPhi()/2.0f);
float cosTheta_2 = cosf(euler.getTheta()/2.0f);
float cosPsi_2 = cosf(euler.getPsi()/2.0f);
float sinPhi_2 = sinf(euler.getPhi()/2.0f);
float sinTheta_2 = sinf(euler.getTheta()/2.0f);
float sinPsi_2 = sinf(euler.getPsi()/2.0f);
setA(cosPhi_2*cosTheta_2*cosPsi_2 +
sinPhi_2*sinTheta_2*sinPsi_2);
setB(sinPhi_2*cosTheta_2*cosPsi_2 -
cosPhi_2*sinTheta_2*sinPsi_2);
setC(cosPhi_2*sinTheta_2*cosPsi_2 +
sinPhi_2*cosTheta_2*sinPsi_2);
setD(cosPhi_2*cosTheta_2*sinPsi_2 +
sinPhi_2*sinTheta_2*cosPsi_2);
}
Quaternion::Quaternion(const Quaternion & right) :
Vector(right)
{
}
Quaternion::~Quaternion()
{
}
Vector Quaternion::derivative(const Vector & w)
{
#ifdef QUATERNION_ASSERT
ASSERT(w.getRows()==3);
#endif
float dataQ[] =
{getA(), -getB(), -getC(), -getD(),
getB(), getA(), -getD(), getC(),
getC(), getD(), getA(), -getB(),
getD(), -getC(), getB(), getA()};
Vector v(4);
v(0) = 0.0f;
v(1) = w(0);
v(2) = w(1);
v(3) = w(2);
Matrix Q(4,4,dataQ);
return Q*v*0.5f;
}
int __EXPORT quaternionTest()
{
printf("Test Quaternion\t\t: ");
// test default ctor
Quaternion q;
ASSERT(equal(q.getA(),1));
ASSERT(equal(q.getB(),0));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// test float ctor
q = Quaternion(0,1,0,0);
ASSERT(equal(q.getA(),0));
ASSERT(equal(q.getB(),1));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// test euler ctor
q = Quaternion(EulerAngles(0,0,0));
ASSERT(equal(q.getA(),1));
ASSERT(equal(q.getB(),0));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// test dcm ctor
q = Quaternion(Dcm());
ASSERT(equal(q.getA(),1));
ASSERT(equal(q.getB(),0));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// TODO test derivative
// test accessors
q.setA(0.1);
q.setB(0.2);
q.setC(0.3);
q.setD(0.4);
ASSERT(equal(q.getA(),0.1));
ASSERT(equal(q.getB(),0.2));
ASSERT(equal(q.getC(),0.3));
ASSERT(equal(q.getD(),0.4));
printf("PASS\n");
return 0;
}
} // namespace math
