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Quaternion: remove deprecated axis_angle conversions

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This commit is contained in:
Matthias Grob
2020-07-20 18:44:08 +02:00
parent 7a3009f7a3
commit 242b38ee9e
2 changed files with 11 additions and 100 deletions
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matrix/Quaternion.hpp
-93
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@@ -224,7 +224,6 @@ public:
q.normalize();
}
/**
* Constructor from quaternion values
*
@@ -358,7 +357,6 @@ public:
*this = this->canonical();
}
/**
* Return canonical form of the quaternion
*
@@ -420,82 +418,6 @@ public:
return Vector3<Type>(res(1), res(2), res(3));
}
/**
* Rotation quaternion from vector
*
* The axis of rotation is given by vector direction and
* the angle is given by the norm.
*
* @param vec rotation vector
* @return quaternion representing the rotation
*/
void from_axis_angle(Vector<Type, 3> vec)
{
Quaternion &q = *this;
Type theta = vec.norm();
if (theta < Type(1e-10)) {
q(0) = Type(1);
q(1) = q(2) = q(3) = Type(0);
return;
}
vec /= theta;
from_axis_angle(vec, theta);
}
/**
* Rotation quaternion from axis and angle
* XXX DEPRECATED, use AxisAngle class
*
* @param axis axis of rotation
* @param theta scalar describing angle of rotation
* @return quaternion representing the rotation
*/
void from_axis_angle(const Vector<Type, 3> &axis, Type theta)
{
Quaternion &q = *this;
if (theta < Type(1e-10)) {
q(0) = Type(1);
q(1) = q(2) = q(3) = Type(0);
}
Type magnitude = sin(theta / 2.0f);
q(0) = cos(theta / 2.0f);
q(1) = axis(0) * magnitude;
q(2) = axis(1) * magnitude;
q(3) = axis(2) * magnitude;
}
/**
* Rotation vector from quaternion
* XXX DEPRECATED, use AxisAngle class
*
* The axis of rotation is given by vector direction and
* the angle is given by the norm.
*
* @return vector, direction representing rotation axis and norm representing angle
*/
Vector<Type, 3> to_axis_angle() const
{
const Quaternion &q = *this;
Type axis_magnitude = Type(sqrt(q(1) * q(1) + q(2) * q(2) + q(3) * q(3)));
Vector<Type, 3> vec;
vec(0) = q(1);
vec(1) = q(2);
vec(2) = q(3);
if (axis_magnitude >= Type(1e-10)) {
vec = vec / axis_magnitude;
vec = vec * wrap_pi(Type(2) * atan2(axis_magnitude, q(0)));
}
return vec;
}
/**
* Imaginary components of quaternion
*/
@@ -525,21 +447,6 @@ public:
R_z(2) = a * a - b * b - c * c + d * d;
return R_z;
}
/**
* XXX DEPRECATED, can use assignment or ctor
*/
Quaternion from_dcm(const Matrix<Type, 3, 3>& dcm) {
return Quaternion(Dcm<Type>(dcm));
}
/**
* XXX DEPRECATED, can use assignment or ctor
*/
Dcm<Type> to_dcm() {
return Dcm<Type>(*this);
}
};
typedef Quaternion<float> Quatf;