diff options
Diffstat (limited to 'src/lib/conversion/rotation.cpp')
| -rw-r--r-- | src/lib/conversion/rotation.cpp | 153 |
1 files changed, 142 insertions, 11 deletions
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index b078562c2..e17715733 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -41,22 +41,153 @@ #include "rotation.h" __EXPORT void -get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix) +get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix) { - /* first set to zero */ - rot_matrix->Matrix::zero(3, 3); - float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll; float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch; float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw; - math::EulerAngles euler(roll, pitch, yaw); + rot_matrix->from_euler(roll, pitch, yaw); +} - math::Dcm R(euler); +#define HALF_SQRT_2 0.70710678118654757f - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - (*rot_matrix)(i, j) = R(i, j); - } - } +__EXPORT void +rotate_3f(enum Rotation rot, float &x, float &y, float &z) +{ + float tmp; + switch (rot) { + case ROTATION_NONE: + case ROTATION_MAX: + return; + case ROTATION_YAW_45: { + tmp = HALF_SQRT_2*(x - y); + y = HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_YAW_90: { + tmp = x; x = -y; y = tmp; + return; + } + case ROTATION_YAW_135: { + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; + return; + } + case ROTATION_YAW_180: + x = -x; y = -y; + return; + case ROTATION_YAW_225: { + tmp = HALF_SQRT_2*(y - x); + y = -HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_YAW_270: { + tmp = x; x = y; y = -tmp; + return; + } + case ROTATION_YAW_315: { + tmp = HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(y - x); + x = tmp; + return; + } + case ROTATION_ROLL_180: { + y = -y; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_45: { + tmp = HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_90: { + tmp = x; x = y; y = tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_135: { + tmp = HALF_SQRT_2*(y - x); + y = HALF_SQRT_2*(y + x); + x = tmp; z = -z; + return; + } + case ROTATION_PITCH_180: { + x = -x; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_225: { + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(y - x); + x = tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_270: { + tmp = x; x = -y; y = -tmp; z = -z; + return; + } + case ROTATION_ROLL_180_YAW_315: { + tmp = HALF_SQRT_2*(x - y); + y = -HALF_SQRT_2*(x + y); + x = tmp; z = -z; + return; + } + case ROTATION_ROLL_90: { + tmp = z; z = y; y = -tmp; + return; + } + case ROTATION_ROLL_90_YAW_45: { + tmp = z; z = y; y = -tmp; + tmp = HALF_SQRT_2*(x - y); + y = HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_ROLL_90_YAW_90: { + tmp = z; z = y; y = -tmp; + tmp = x; x = -y; y = tmp; + return; + } + case ROTATION_ROLL_90_YAW_135: { + tmp = z; z = y; y = -tmp; + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; + return; + } + case ROTATION_ROLL_270: { + tmp = z; z = -y; y = tmp; + return; + } + case ROTATION_ROLL_270_YAW_45: { + tmp = z; z = -y; y = tmp; + tmp = HALF_SQRT_2*(x - y); + y = HALF_SQRT_2*(x + y); + x = tmp; + return; + } + case ROTATION_ROLL_270_YAW_90: { + tmp = z; z = -y; y = tmp; + tmp = x; x = -y; y = tmp; + return; + } + case ROTATION_ROLL_270_YAW_135: { + tmp = z; z = -y; y = tmp; + tmp = -HALF_SQRT_2*(x + y); + y = HALF_SQRT_2*(x - y); + x = tmp; + return; + } + case ROTATION_PITCH_90: { + tmp = z; z = -x; x = tmp; + return; + } + case ROTATION_PITCH_270: { + tmp = z; z = x; x = -tmp; + return; + } + } } |