diff options
Diffstat (limited to 'jni/feature_stab/db_vlvm/db_utilities_rotation.h')
-rw-r--r-- | jni/feature_stab/db_vlvm/db_utilities_rotation.h | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/jni/feature_stab/db_vlvm/db_utilities_rotation.h b/jni/feature_stab/db_vlvm/db_utilities_rotation.h new file mode 100644 index 0000000..7f5f937 --- /dev/null +++ b/jni/feature_stab/db_vlvm/db_utilities_rotation.h @@ -0,0 +1,59 @@ +/* + * 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 */ |