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author | tumbili <bapstr@ethz.ch> | 2015-02-23 22:26:41 +0100 |
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committer | tumbili <bapstr@ethz.ch> | 2015-02-23 22:30:49 +0100 |
commit | a252f4a99111597babd447c962208287e3f244ba (patch) | |
tree | bd697fdb7f45bc773bd152880485ddf272c954f7 /src/lib | |
parent | 41377709e630943593bca810295df9f488602831 (diff) | |
download | px4-firmware-a252f4a99111597babd447c962208287e3f244ba.tar.gz px4-firmware-a252f4a99111597babd447c962208287e3f244ba.tar.bz2 px4-firmware-a252f4a99111597babd447c962208287e3f244ba.zip |
fixed quaternion method from_dcm()
Diffstat (limited to 'src/lib')
-rw-r--r-- | src/lib/mathlib/math/Quaternion.hpp | 34 |
1 files changed, 28 insertions, 6 deletions
diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp index bf6e3365d..6ea4cf557 100644 --- a/src/lib/mathlib/math/Quaternion.hpp +++ b/src/lib/mathlib/math/Quaternion.hpp @@ -135,12 +135,34 @@ public: data[3] = static_cast<float>(cosPhi_2 * cosTheta_2 * sinPsi_2 - sinPhi_2 * sinTheta_2 * cosPsi_2); } - void from_dcm(const Matrix<3, 3> &m) { - // avoiding singularities by not using division equations - data[0] = 0.5f * sqrtf(1.0f + m.data[0][0] + m.data[1][1] + m.data[2][2]); - data[1] = 0.5f * sqrtf(1.0f + m.data[0][0] - m.data[1][1] - m.data[2][2]); - data[2] = 0.5f * sqrtf(1.0f - m.data[0][0] + m.data[1][1] - m.data[2][2]); - data[3] = 0.5f * sqrtf(1.0f - m.data[0][0] - m.data[1][1] + m.data[2][2]); + void from_dcm(const Matrix<3, 3> &dcm) { + float tr = dcm.data[0][0] + dcm.data[1][1] + dcm.data[2][2]; + if (tr > 0.0f) { + float s = sqrtf(tr + 1.0f); + data[0] = s * 0.5f; + s = 0.5f / s; + data[1] = (dcm.data[2][1] - dcm.data[1][2]) * s; + data[2] = (dcm.data[0][2] - dcm.data[2][0]) * s; + data[3] = (dcm.data[1][0] - dcm.data[0][1]) * s; + } else { + /* Find maximum diagonal element in dcm + * store index in dcm_i */ + int dcm_i = 0; + for (int i = 1; i < 3; i++) { + if (dcm.data[i][i] > dcm.data[dcm_i][dcm_i]) { + dcm_i = i; + } + } + int dcm_j = (dcm_i + 1) % 3; + int dcm_k = (dcm_i + 2) % 3; + float s = sqrtf((dcm.data[dcm_i][dcm_i] - dcm.data[dcm_j][dcm_j] - + dcm.data[dcm_k][dcm_k]) + 1.0f); + data[dcm_i + 1] = s * 0.5f; + s = 0.5f / s; + data[dcm_j + 1] = (dcm.data[dcm_i][dcm_j] + dcm.data[dcm_j][dcm_i]) * s; + data[dcm_k + 1] = (dcm.data[dcm_k][dcm_i] + dcm.data[dcm_i][dcm_k]) * s; + data[0] = (dcm.data[dcm_k][dcm_j] - dcm.data[dcm_j][dcm_k]) * s; + } } /** |