PX4-Autopilot/src/lib/conversion/rotation.cpp

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/**
 * @file rotation.cpp
 *
 * Vector rotation library
 */

#include "math.h"
#include "rotation.h"

__EXPORT void
get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix)
{
	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
	float yaw   = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;

	rot_matrix->from_euler(roll, pitch, yaw);
}

#define HALF_SQRT_2 0.70710678118654757f

__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{
	float tmp;

	switch (rot) {
	case ROTATION_NONE:
	case ROTATION_MAX:
		return;

	case ROTATION_YAW_45: {
			tmp = HALF_SQRT_2 * (x - y);
			y   = HALF_SQRT_2 * (x + y);
			x = tmp;
			return;
		}

	case ROTATION_YAW_90: {
			tmp = x; x = -y; y = tmp;
			return;
		}

	case ROTATION_YAW_135: {
			tmp = -HALF_SQRT_2 * (x + y);
			y   =  HALF_SQRT_2 * (x - y);
			x = tmp;
			return;
		}

	case ROTATION_YAW_180:
		x = -x; y = -y;
		return;

	case ROTATION_YAW_225: {
			tmp = HALF_SQRT_2 * (y - x);
			y   = -HALF_SQRT_2 * (x + y);
			x = tmp;
			return;
		}

	case ROTATION_YAW_270: {
			tmp = x; x = y; y = -tmp;
			return;
		}

	case ROTATION_YAW_315: {
			tmp = HALF_SQRT_2 * (x + y);
			y   = HALF_SQRT_2 * (y - x);
			x = tmp;
			return;
		}

	case ROTATION_ROLL_180: {
			y = -y; z = -z;
			return;
		}

	case ROTATION_ROLL_180_YAW_45: {
			tmp = HALF_SQRT_2 * (x + y);
			y   = HALF_SQRT_2 * (x - y);
			x = tmp; z = -z;
			return;
		}

	case ROTATION_ROLL_180_YAW_90: {
			tmp = x; x = y; y = tmp; z = -z;
			return;
		}

	case ROTATION_ROLL_180_YAW_135: {
			tmp = HALF_SQRT_2 * (y - x);
			y   = HALF_SQRT_2 * (y + x);
			x = tmp; z = -z;
			return;
		}

	case ROTATION_PITCH_180: {
			x = -x; z = -z;
			return;
		}

	case ROTATION_ROLL_180_YAW_225: {
			tmp = -HALF_SQRT_2 * (x + y);
			y   =  HALF_SQRT_2 * (y - x);
			x = tmp; z = -z;
			return;
		}

	case ROTATION_ROLL_180_YAW_270: {
			tmp = x; x = -y; y = -tmp; z = -z;
			return;
		}

	case ROTATION_ROLL_180_YAW_315: {
			tmp =  HALF_SQRT_2 * (x - y);
			y   = -HALF_SQRT_2 * (x + y);
			x = tmp; z = -z;
			return;
		}

	case ROTATION_ROLL_90: {
			tmp = z; z = y; y = -tmp;
			return;
		}

	case ROTATION_ROLL_90_YAW_45: {
			tmp = z; z = y; y = -tmp;
			tmp = HALF_SQRT_2 * (x - y);
			y   = HALF_SQRT_2 * (x + y);
			x = tmp;
			return;
		}

	case ROTATION_ROLL_90_YAW_90: {
			tmp = z; z = y; y = -tmp;
			tmp = x; x = -y; y = tmp;
			return;
		}

	case ROTATION_ROLL_90_YAW_135: {
			tmp = z; z = y; y = -tmp;
			tmp = -HALF_SQRT_2 * (x + y);
			y   =  HALF_SQRT_2 * (x - y);
			x = tmp;
			return;
		}

	case ROTATION_ROLL_270: {
			tmp = z; z = -y; y = tmp;
			return;
		}

	case ROTATION_ROLL_270_YAW_45: {
			tmp = z; z = -y; y = tmp;
			tmp = HALF_SQRT_2 * (x - y);
			y   = HALF_SQRT_2 * (x + y);
			x = tmp;
			return;
		}

	case ROTATION_ROLL_270_YAW_90: {
			tmp = z; z = -y; y = tmp;
			tmp = x; x = -y; y = tmp;
			return;
		}

	case ROTATION_ROLL_270_YAW_135: {
			tmp = z; z = -y; y = tmp;
			tmp = -HALF_SQRT_2 * (x + y);
			y   =  HALF_SQRT_2 * (x - y);
			x = tmp;
			return;
		}

	case ROTATION_ROLL_270_YAW_270: {
			tmp = z; z = -y; y = tmp;
			tmp = x; x = y; y = -tmp;
			return;
		}

	case ROTATION_PITCH_90: {
			tmp = z; z = -x; x = tmp;
			return;
		}

	case ROTATION_PITCH_270: {
			tmp = z; z = x; x = -tmp;
			return;
		}

	case ROTATION_ROLL_180_PITCH_270: {
			tmp = z; z = x; x = tmp;
			y = -y;
			return;
		}

	case ROTATION_PITCH_90_YAW_180: {
			tmp = x; x = z; z = tmp;
			y = -y;
			return;
		}

	case ROTATION_PITCH_90_ROLL_90: {
			tmp = x; x = y;
			y = -z; z = -tmp;
			return;
		}

	case ROTATION_YAW_293_PITCH_68_ROLL_90: {
			float tmpx = x;
			float tmpy = y;
			float tmpz = z;
			x =  0.143039f * tmpx +  0.368776f * tmpy + -0.918446f * tmpz;
			y = -0.332133f * tmpx + -0.856289f * tmpy + -0.395546f * tmpz;
			z = -0.932324f * tmpx +  0.361625f * tmpy +  0.000000f * tmpz;
			return;
		}
	}
}