| /* |
| * Copyright (C) 2011 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| /* $Id: db_utilities_rotation.h,v 1.2 2010/09/03 12:00:11 bsouthall Exp $ */ |
| |
| #ifndef DB_UTILITIES_ROTATION |
| #define DB_UTILITIES_ROTATION |
| |
| #include "db_utilities.h" |
| |
| |
| |
| /***************************************************************** |
| * Lean and mean begins here * |
| *****************************************************************/ |
| /*! |
| * \defgroup LMRotation (LM) Rotation Utilities (quaternions, orthonormal) |
| */ |
| /*\{*/ |
| /*! |
| Takes a unit quaternion and gives its corresponding rotation matrix. |
| \param R rotation matrix (out) |
| \param q quaternion |
| */ |
| inline void db_QuaternionToRotation(double R[9],const double q[4]) |
| { |
| double q0q0,q0qx,q0qy,q0qz,qxqx,qxqy,qxqz,qyqy,qyqz,qzqz; |
| |
| q0q0=q[0]*q[0]; |
| q0qx=q[0]*q[1]; |
| q0qy=q[0]*q[2]; |
| q0qz=q[0]*q[3]; |
| qxqx=q[1]*q[1]; |
| qxqy=q[1]*q[2]; |
| qxqz=q[1]*q[3]; |
| qyqy=q[2]*q[2]; |
| qyqz=q[2]*q[3]; |
| qzqz=q[3]*q[3]; |
| |
| R[0]=q0q0+qxqx-qyqy-qzqz; R[1]=2.0*(qxqy-q0qz); R[2]=2.0*(qxqz+q0qy); |
| R[3]=2.0*(qxqy+q0qz); R[4]=q0q0-qxqx+qyqy-qzqz; R[5]=2.0*(qyqz-q0qx); |
| R[6]=2.0*(qxqz-q0qy); R[7]=2.0*(qyqz+q0qx); R[8]=q0q0-qxqx-qyqy+qzqz; |
| } |
| |
| /*\}*/ |
| #endif /* DB_UTILITIES_ROTATION */ |
