Sascha Haeberling | 8bddf8c | 2013-08-14 11:20:34 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2011 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | /* $Id: db_utilities_rotation.h,v 1.2 2010/09/03 12:00:11 bsouthall Exp $ */ |
| 18 | |
| 19 | #ifndef DB_UTILITIES_ROTATION |
| 20 | #define DB_UTILITIES_ROTATION |
| 21 | |
| 22 | #include "db_utilities.h" |
| 23 | |
| 24 | |
| 25 | |
| 26 | /***************************************************************** |
| 27 | * Lean and mean begins here * |
| 28 | *****************************************************************/ |
| 29 | /*! |
| 30 | * \defgroup LMRotation (LM) Rotation Utilities (quaternions, orthonormal) |
| 31 | */ |
| 32 | /*\{*/ |
| 33 | /*! |
| 34 | Takes a unit quaternion and gives its corresponding rotation matrix. |
| 35 | \param R rotation matrix (out) |
| 36 | \param q quaternion |
| 37 | */ |
| 38 | inline void db_QuaternionToRotation(double R[9],const double q[4]) |
| 39 | { |
| 40 | double q0q0,q0qx,q0qy,q0qz,qxqx,qxqy,qxqz,qyqy,qyqz,qzqz; |
| 41 | |
| 42 | q0q0=q[0]*q[0]; |
| 43 | q0qx=q[0]*q[1]; |
| 44 | q0qy=q[0]*q[2]; |
| 45 | q0qz=q[0]*q[3]; |
| 46 | qxqx=q[1]*q[1]; |
| 47 | qxqy=q[1]*q[2]; |
| 48 | qxqz=q[1]*q[3]; |
| 49 | qyqy=q[2]*q[2]; |
| 50 | qyqz=q[2]*q[3]; |
| 51 | qzqz=q[3]*q[3]; |
| 52 | |
| 53 | R[0]=q0q0+qxqx-qyqy-qzqz; R[1]=2.0*(qxqy-q0qz); R[2]=2.0*(qxqz+q0qy); |
| 54 | R[3]=2.0*(qxqy+q0qz); R[4]=q0q0-qxqx+qyqy-qzqz; R[5]=2.0*(qyqz-q0qx); |
| 55 | R[6]=2.0*(qxqz-q0qy); R[7]=2.0*(qyqz+q0qx); R[8]=q0q0-qxqx-qyqy+qzqz; |
| 56 | } |
| 57 | |
| 58 | /*\}*/ |
| 59 | #endif /* DB_UTILITIES_ROTATION */ |