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MPUQuaternion.cpp
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MPUQuaternion.cpp
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#include "slconfig.h"
#if(HAS_MPU9150)
////////////////////////////////////////////////////////////////////////////
//
// This file is part of MPU9150Lib
//
// Copyright (c) 2013 Pansenti, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
// Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include "MPUQuaternion.h"
void MPUQuaternionNormalize(MPUQuaternion q)
{
float length = MPUQuaternionNorm(q);
if (length == 0)
return;
q[QUAT_W] /= length;
q[QUAT_X] /= length;
q[QUAT_Y] /= length;
q[QUAT_Z] /= length;
}
void MPUQuaternionQuaternionToEuler(const MPUQuaternion q, MPUVector3 v)
{
float pole = M_PI/2.0f - 0.05f; // fix roll near poles with this tolerance
v[VEC3_Y] = asin(2.0f * (q[QUAT_W] * q[QUAT_Y] - q[QUAT_X] * q[QUAT_Z]));
if ((v[VEC3_Y] < pole) && (v[VEC3_Y] > -pole))
v[VEC3_X] = atan2(2.0f * (q[QUAT_Y] * q[QUAT_Z] + q[QUAT_W] * q[QUAT_X]),
1.0f - 2.0f * (q[QUAT_X] * q[QUAT_X] + q[QUAT_Y] * q[QUAT_Y]));
v[VEC3_Z] = atan2(2.0f * (q[QUAT_X] * q[QUAT_Y] + q[QUAT_W] * q[QUAT_Z]),
1.0f - 2.0f * (q[QUAT_Y] * q[QUAT_Y] + q[QUAT_Z] * q[QUAT_Z]));
}
void MPUQuaternionEulerToQuaternion(const MPUVector3 v, MPUQuaternion q)
{
float cosX2 = cos(v[VEC3_X] / 2.0f);
float sinX2 = sin(v[VEC3_X] / 2.0f);
float cosY2 = cos(v[VEC3_Y] / 2.0f);
float sinY2 = sin(v[VEC3_Y] / 2.0f);
float cosZ2 = cos(v[VEC3_Z] / 2.0f);
float sinZ2 = sin(v[VEC3_Z] / 2.0f);
q[QUAT_W] = cosX2 * cosY2 * cosZ2 + sinX2 * sinY2 * sinZ2;
q[QUAT_X] = sinX2 * cosY2 * cosZ2 - cosX2 * sinY2 * sinZ2;
q[QUAT_Y] = cosX2 * sinY2 * cosZ2 + sinX2 * cosY2 * sinZ2;
q[QUAT_Z] = cosX2 * cosY2 * sinZ2 - sinX2 * sinY2 * cosZ2;
MPUQuaternionNormalize(q);
}
void MPUQuaternionConjugate(const MPUQuaternion s, MPUQuaternion d)
{
d[QUAT_W] = s[QUAT_W];
d[QUAT_X] = -s[QUAT_X];
d[QUAT_Y] = -s[QUAT_Y];
d[QUAT_Z] = -s[QUAT_Z];
}
void MPUQuaternionMultiply(const MPUQuaternion qa, const MPUQuaternion qb, MPUQuaternion qd)
{
MPUVector3 va;
MPUVector3 vb;
float dotAB;
MPUVector3 crossAB;
va[VEC3_X] = qa[QUAT_X];
va[VEC3_Y] = qa[QUAT_Y];
va[VEC3_Z] = qa[QUAT_Z];
vb[VEC3_X] = qb[QUAT_X];
vb[VEC3_Y] = qb[QUAT_Y];
vb[VEC3_Z] = qb[QUAT_Z];
MPUVector3DotProduct(va, vb, &dotAB);
MPUVector3CrossProduct(va, vb, crossAB);
qd[QUAT_W] = qa[QUAT_W] * qb[QUAT_W] - dotAB;
qd[QUAT_X] = qa[QUAT_W] * vb[VEC3_X] + qb[QUAT_W] * va[VEC3_X] + crossAB[VEC3_X];
qd[QUAT_Y] = qa[QUAT_W] * vb[VEC3_Y] + qb[QUAT_W] * va[VEC3_Y] + crossAB[VEC3_Y];
qd[QUAT_Z] = qa[QUAT_W] * vb[VEC3_Z] + qb[QUAT_W] * va[VEC3_Z] + crossAB[VEC3_Z];
}
#endif