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87 lines
3.1 KiB
C++
87 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rotation.cpp
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*
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* Vector rotation library
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*/
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#include "rotation.h"
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__EXPORT matrix::Dcmf
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get_rot_matrix(enum Rotation rot)
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{
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return matrix::Dcmf{matrix::Eulerf{
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math::radians((float)rot_lookup[rot].roll),
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math::radians((float)rot_lookup[rot].pitch),
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math::radians((float)rot_lookup[rot].yaw)}};
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}
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__EXPORT matrix::Quatf
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get_rot_quaternion(enum Rotation rot)
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{
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return matrix::Quatf{matrix::Eulerf{
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math::radians((float)rot_lookup[rot].roll),
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math::radians((float)rot_lookup[rot].pitch),
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math::radians((float)rot_lookup[rot].yaw)}};
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}
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__EXPORT void
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rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
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{
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if (!rotate_3(rot, x, y, z)) {
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// otherwise use full rotation matrix for valid rotations
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if (rot < ROTATION_MAX) {
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const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
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x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
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y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
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z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
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}
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}
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}
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__EXPORT void
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rotate_3f(enum Rotation rot, float &x, float &y, float &z)
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{
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if (!rotate_3(rot, x, y, z)) {
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// otherwise use full rotation matrix for valid rotations
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if (rot < ROTATION_MAX) {
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const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
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x = r(0);
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y = r(1);
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z = r(2);
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}
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}
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}
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