36 lines
895 B
C++
36 lines
895 B
C++
#ifndef QUATERNIONOPERATIONS_H_
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#define QUATERNIONOPERATIONS_H_
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#include <stdint.h>
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class QuaternionOperations {
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public:
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virtual ~QuaternionOperations();
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static void multiply(const double *q1, const double *q2, double *q);
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static void fromDcm(const double dcm[][3],double *quaternion, uint8_t *index = 0);
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static void toDcm(const double *quaternion, double dcm[][3]);
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static void toDcm(const double *quaternion, float dcm[][3]);
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static float norm(const double *quaternion);
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static void normalize(double *quaternion);
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static void normalize(const double *quaternion, double *unitQuaternion);
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static void inverse(const double *quaternion, double *inverseQuaternion);
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/**
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* returns angle in ]-Pi;Pi] or [0;Pi] if abs == true
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*/
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static double getAngle(const double *quaternion, bool abs = false);
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private:
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QuaternionOperations();
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};
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#endif /* QUATERNIONOPERATIONS_H_ */
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