LA_library/quaternion.cc
2020-01-04 20:28:03 +00:00

184 lines
4.7 KiB
C++

/*
LA: linear algebra C++ interface library
Copyright (C) 2008-2020 Jiri Pittner <jiri.pittner@jh-inst.cas.cz> or <jiri@pittnerovi.com>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "quaternion.h"
//do not replicate this code in each object file, therefore not in .h
//and instantize the templates for the types needed
template<typename T>
const Quaternion<T> Quaternion<T>::operator*(const Quaternion<T> &rhs) const
{
return Quaternion<T>
(
this->q[0]*rhs.q[0]-this->q[1]*rhs.q[1]-this->q[2]*rhs.q[2]-this->q[3]*rhs.q[3],
this->q[0]*rhs.q[1]+this->q[1]*rhs.q[0]+this->q[2]*rhs.q[3]-this->q[3]*rhs.q[2],
this->q[0]*rhs.q[2]+this->q[2]*rhs.q[0]+this->q[3]*rhs.q[1]-this->q[1]*rhs.q[3],
this->q[0]*rhs.q[3]+this->q[3]*rhs.q[0]+this->q[1]*rhs.q[2]-this->q[2]*rhs.q[1]
);
};
//basically the same code as in normquat2rotmat, but avoiding extra storage
template<typename T>
void Quaternion<T>::rotate(T *to, const T *from, Quaternion<T> *grad) const
{
//some subexpression eliminations
{
T q00= q[0]*q[0];
T q11= q[1]*q[1];
T q22= q[2]*q[2];
T q33= q[3]*q[3];
to[0] = (q00+q11-q22-q33) * from[0];
to[1] = (q00+q22-q11-q33) * from[1];
to[2] = (q00+q33-q11-q22) * from[2];
}
T q01= q[0]*q[1];
T q02= q[0]*q[2];
T q03= q[0]*q[3];
T q12= q[1]*q[2];
T q13= q[1]*q[3];
T q23= q[2]*q[3];
T f0=from[0]+from[0];
T f1=from[1]+from[1];
T f2=from[2]+from[2];
to[0] += (q12+q03)*f1;
to[0] += (q13-q02)*f2;
to[1] += (q12-q03)*f0;
to[1] += (q23+q01)*f2;
to[2] += (q13+q02)*f0;
to[2] += (q23-q01)*f1;
/*
to[0] = (2*q[0]*q[0]-1+2*q[1]*q[1]) * from[0] +
2*(q[1]*q[2]+q[0]*q[3]) * from[1] +
2*(q[1]*q[3]-q[0]*q[2]) * from[2];
to[1] = 2*(q[1]*q[2]-q[0]*q[3]) * from[0] +
(2*q[0]*q[0]-1+2*q[2]*q[2]) * from[1] +
2*(q[2]*q[3]+q[0]*q[1]) * from[2];
to[2] = 2*(q[1]*q[3]+q[0]*q[2]) * from[0] +
2*(q[2]*q[3]-q[0]*q[1]) * from[1] +
(2*q[0]*q[0]-1+2*q[3]*q[3]) * from[2];
*/
if(grad)
{
grad[0][0]= q[0]*f0 + q[3]*f1 - q[2]*f2;
grad[0][1]= q[1]*f0 + q[2]*f1 + q[3]*f2;
grad[0][2]= -q[2]*f0 + q[1]*f1 - q[0]*f2;
grad[0][3]= -q[3]*f0 + q[0]*f1 + q[1]*f2;
grad[1][0]= -q[3]*f0 + q[0]*f1 + q[1]*f2;
grad[1][1]= q[2]*f0 - q[1]*f1 + q[0]*f2;
grad[1][2]= q[1]*f0 + q[2]*f1 + q[3]*2;
grad[1][3]= -q[0]*f0 - q[3]*f1 + q[2]*f2;
grad[2][0]= q[2]*f0 - q[1]*f1 + q[0]*f2;
grad[2][1]= q[3]*f0 - q[0]*f1 - q[1]*f2;
grad[2][2]= q[0]*f0 + q[3]*f1 - q[2]*f2;
grad[2][3]= q[1]*f0 + q[2]*f1 + q[3]*f2;
}
}
template<typename T>
Quaternion<T> Quaternion<T>::rotateby(const Quaternion<T> &rhs)
{
//return rhs.inverse() * *this * rhs; //inefficient reference implementation
Quaternion<T> r;
r[0]=0;
rhs.rotate(&r[1],&q[1]);
return r;
}
template<typename T>
Quaternion<T> Quaternion<T>::rotate_match(T *to, const T *from, const T *match) const
{
Quaternion<T> grad[3];
Quaternion<T>::rotate(to, from, grad);
Quaternion<T> derivative;
derivative = grad[0] * (to[0]-match[0]);
derivative += grad[1] * (to[1]-match[1]);
derivative += grad[2] * (to[2]-match[2]);
return derivative;
}
//optionally skip this for microcontrollers if not needed
//note that C++ standard headers should use float version of the functions for T=float
#ifndef AVOID_GONIOM_FUNC
template<typename T>
void Quaternion<T>::normquat2euler(T *e) const
{
e[0]= atan2(2*q[1]*q[2]-2*q[0]*q[3],2*q[0]*q[0]+2*q[1]*q[1]-1);
e[1]= -asin(2*q[1]*q[3]+2*q[0]*q[2]);
e[2]= atan2(2*q[2]*q[3]-2*q[0]*q[1],2*q[0]*q[0]+2*q[3]*q[3]-1);
}
template<typename T>
void Quaternion<T>::axis2normquat(const T *axis, const T &angle)
{
T a = (T).5*angle;
q[0]=cos(a);
T s=sin(a);
q[1]=axis[0]*s;
q[2]=axis[1]*s;
q[3]=axis[2]*s;
}
template<typename T>
void Quaternion<T>::normquat2axis(T *axis, T &angle) const
{
T s = sqrt(q[1]*q[1] + q[2]*q[2] +q[3]*q[3]);
angle = 2*atan2(s,q[0]);
s= 1/s;
axis[0]= q[1]*s;
axis[1]= q[2]*s;
axis[2]= q[3]*s;
}
#endif
//force instantization
#define INSTANTIZE(T) \
template class Quaternion<T>; \
#define INSTANTIZE2(T) \
INSTANTIZE(float)
#ifndef QUAT_NO_DOUBLE
INSTANTIZE(double)
#endif
#ifndef AVOID_GONIOM_FUNC
INSTANTIZE2(float)
#ifndef QUAT_NO_DOUBLE
INSTANTIZE2(double)
#endif
#endif