1 | // %flair:license{ |
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2 | // This file is part of the Flair framework distributed under the |
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3 | // CECILL-C License, Version 1.0. |
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4 | // %flair:license} |
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5 | /*! |
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6 | * \file Euler.h |
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7 | * \brief Class defining euler angles |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2013/05/02 |
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10 | * \version 4.0 |
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11 | */ |
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12 | |
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13 | #ifndef EULER_H |
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14 | #define EULER_H |
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15 | |
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16 | namespace flair { |
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17 | namespace core { |
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18 | class Quaternion; |
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19 | |
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20 | /*! \class Euler |
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21 | * |
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22 | * \brief Class defining euler angles |
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23 | * |
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24 | * Euler angles are expressed in radians. |
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25 | * |
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26 | */ |
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27 | class Euler { |
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28 | public: |
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29 | /*! |
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30 | * \brief Constructor |
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31 | * |
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32 | * Construct euler angles using specified values. |
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33 | * |
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34 | * \param roll roll value |
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35 | * \param pitch pitch value |
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36 | * \param yaw yaw value |
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37 | */ |
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38 | Euler(float roll = 0, float pitch = 0, float yaw = 0); |
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39 | |
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40 | /*! |
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41 | * \brief Destructor |
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42 | * |
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43 | */ |
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44 | ~Euler(); |
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45 | |
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46 | /*! |
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47 | * \brief x axis rotation |
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48 | * |
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49 | * \param value rotation value in radians |
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50 | */ |
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51 | // todo: passer par un quaternion |
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52 | // void RotateX(float value); |
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53 | |
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54 | /*! |
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55 | * \brief x axis rotation |
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56 | * |
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57 | * \param value rotation value in degrees |
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58 | */ |
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59 | // void RotateXDeg(float value); |
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60 | |
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61 | /*! |
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62 | * \brief y axis rotation |
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63 | * |
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64 | * \param value rotation value in radians |
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65 | */ |
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66 | // void RotateY(float value); |
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67 | |
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68 | /*! |
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69 | * \brief y axis rotation |
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70 | * |
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71 | * \param value rotation value in degrees |
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72 | */ |
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73 | // void RotateYDeg(float value); |
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74 | |
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75 | /*! |
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76 | * \brief z axis rotation |
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77 | * |
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78 | * \param value rotation value in radians |
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79 | */ |
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80 | // void RotateZ(float value); |
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81 | |
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82 | /*! |
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83 | * \brief z axis rotation |
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84 | * |
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85 | * \param value rotation value in degrees |
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86 | */ |
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87 | // void RotateZDeg(float value); |
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88 | |
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89 | /*! |
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90 | * \brief Convert to quaternion |
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91 | * |
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92 | * \param quaternion output quaternion |
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93 | */ |
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94 | void ToQuaternion(Quaternion &quaternion) const; |
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95 | |
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96 | /*! |
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97 | * \brief Convert to quaternion |
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98 | * |
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99 | * \return quaternion |
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100 | */ |
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101 | Quaternion ToQuaternion(void) const; |
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102 | /*! |
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103 | * \brief Convert from radian to degree |
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104 | * |
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105 | * \param radianValue value in radian |
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106 | * |
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107 | * \return value in degree |
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108 | */ |
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109 | static float ToDegree(float radianValue); |
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110 | |
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111 | /*! |
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112 | * \brief Convert from degree to radian |
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113 | * |
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114 | * \param degreeValue value in degree |
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115 | * |
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116 | * \return value in radian |
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117 | */ |
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118 | static float ToRadian(float degreeValue); |
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119 | |
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120 | /*! |
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121 | * \brief Compute yaw distance |
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122 | * |
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123 | * Compute yaw distance from given angle. This is the minimum distance. |
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124 | * |
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125 | * \param angle starting angle |
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126 | * |
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127 | * \return value distance in radian |
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128 | */ |
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129 | float YawDistanceFrom(float angle) const; |
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130 | |
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131 | /*! |
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132 | * \brief roll value |
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133 | */ |
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134 | float roll; |
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135 | |
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136 | /*! |
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137 | * \brief pitch value |
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138 | */ |
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139 | float pitch; |
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140 | |
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141 | /*! |
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142 | * \brief yaw value |
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143 | */ |
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144 | float yaw; |
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145 | |
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146 | Euler &operator=(const Euler &euler); |
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147 | }; |
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148 | |
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149 | } // end namespace core |
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150 | } // end namespace flair |
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151 | |
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152 | #endif // EULER_H |
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