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Diffstat (limited to 'src/lib/mathlib/math/Quaternion.cpp')
| -rw-r--r-- | src/lib/mathlib/math/Quaternion.cpp | 174 |
1 files changed, 174 insertions, 0 deletions
diff --git a/src/lib/mathlib/math/Quaternion.cpp b/src/lib/mathlib/math/Quaternion.cpp new file mode 100644 index 000000000..02fec4ca6 --- /dev/null +++ b/src/lib/mathlib/math/Quaternion.cpp @@ -0,0 +1,174 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * 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, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Quaternion.cpp + * + * math vector + */ + +#include "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) +{ + // avoiding singularities by not using + // division equations + setA(0.5 * sqrt(1.0 + + double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2)))); + setB(0.5 * sqrt(1.0 + + double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2)))); + setC(0.5 * sqrt(1.0 + + double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2)))); + setD(0.5 * sqrt(1.0 + + double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2)))); +} + +Quaternion::Quaternion(const EulerAngles &euler) : + Vector(4) +{ + double cosPhi_2 = cos(double(euler.getPhi()) / 2.0); + double sinPhi_2 = sin(double(euler.getPhi()) / 2.0); + double cosTheta_2 = cos(double(euler.getTheta()) / 2.0); + double sinTheta_2 = sin(double(euler.getTheta()) / 2.0); + double cosPsi_2 = cos(double(euler.getPsi()) / 2.0); + double sinPsi_2 = sin(double(euler.getPsi()) / 2.0); + 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(), 1.0f)); + ASSERT(equal(q.getB(), 0.0f)); + ASSERT(equal(q.getC(), 0.0f)); + ASSERT(equal(q.getD(), 0.0f)); + // test float ctor + q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f); + ASSERT(equal(q.getA(), 0.1825742f)); + ASSERT(equal(q.getB(), 0.3651484f)); + ASSERT(equal(q.getC(), 0.5477226f)); + ASSERT(equal(q.getD(), 0.7302967f)); + // test euler ctor + q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f)); + ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f))); + // test dcm ctor + q = Quaternion(Dcm()); + ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f))); + // TODO test derivative + // test accessors + q.setA(0.1f); + q.setB(0.2f); + q.setC(0.3f); + q.setD(0.4f); + ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f))); + printf("PASS\n"); + return 0; +} + +} // namespace math |