/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Will Perone <will.perone@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Quaternion.hpp
*
* Quaternion
*/
#ifndef QUATERNION_HPP
#define QUATERNION_HPP
#include <math.h>
#include "../CMSIS/Include/arm_math.h"
#include "Vector.hpp"
#include "Matrix.hpp"
namespace math
{
template <unsigned int N, unsigned int M>
class Matrix;
class Quaternion : public Vector<4> {
public:
/**
* trivial ctor
*/
Quaternion() {
}
/**
* setting ctor
*/
Quaternion(const float a0, const float b0, const float c0, const float d0): Vector(a0, b0, c0, d0) {
}
Quaternion(const Vector<4> &v) : Vector(v) {
}
Quaternion(const float *v) : Vector(v) {
}
Quaternion derivative(const Vector<3> &w) {
float dataQ[] = {
data[0], -data[1], -data[2], -data[3],
data[1], data[0], -data[3], data[2],
data[2], data[3], data[0], -data[1],
data[3], -data[2], data[1], data[0]
};
Matrix<4,4> Q(dataQ);
Vector<4> v(0.0f, w.data[0], w.data[1], w.data[2]);
return Q * v * 0.5f;
}
void from_euler(float roll, float pitch, float yaw) {
double cosPhi_2 = cos(double(roll) / 2.0);
double sinPhi_2 = sin(double(roll) / 2.0);
double cosTheta_2 = cos(double(pitch) / 2.0);
double sinTheta_2 = sin(double(pitch) / 2.0);
double cosPsi_2 = cos(double(yaw) / 2.0);
double sinPsi_2 = sin(double(yaw) / 2.0);
data[0] = cosPhi_2 * cosTheta_2 * cosPsi_2 + sinPhi_2 * sinTheta_2 * sinPsi_2;
data[1] = sinPhi_2 * cosTheta_2 * cosPsi_2 - cosPhi_2 * sinTheta_2 * sinPsi_2;
data[2] = cosPhi_2 * sinTheta_2 * cosPsi_2 + sinPhi_2 * cosTheta_2 * sinPsi_2;
data[3] = cosPhi_2 * cosTheta_2 * sinPsi_2 - sinPhi_2 * sinTheta_2 * cosPsi_2;
}
};
}
#endif // QUATERNION_HPP
