1 /*
2 * Copyright (C) 2011 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 /* $Id: db_utilities_rotation.h,v 1.2 2010/09/03 12:00:11 bsouthall Exp $ */
18
19 #ifndef DB_UTILITIES_ROTATION
20 #define DB_UTILITIES_ROTATION
21
22 #include "db_utilities.h"
23
24
25
26 /*****************************************************************
27 * Lean and mean begins here *
28 *****************************************************************/
29 /*!
30 * \defgroup LMRotation (LM) Rotation Utilities (quaternions, orthonormal)
31 */
32 /*\{*/
33 /*!
34 Takes a unit quaternion and gives its corresponding rotation matrix.
35 \param R rotation matrix (out)
36 \param q quaternion
37 */
db_QuaternionToRotation(double R[9],const double q[4])38 inline void db_QuaternionToRotation(double R[9],const double q[4])
39 {
40 double q0q0,q0qx,q0qy,q0qz,qxqx,qxqy,qxqz,qyqy,qyqz,qzqz;
41
42 q0q0=q[0]*q[0];
43 q0qx=q[0]*q[1];
44 q0qy=q[0]*q[2];
45 q0qz=q[0]*q[3];
46 qxqx=q[1]*q[1];
47 qxqy=q[1]*q[2];
48 qxqz=q[1]*q[3];
49 qyqy=q[2]*q[2];
50 qyqz=q[2]*q[3];
51 qzqz=q[3]*q[3];
52
53 R[0]=q0q0+qxqx-qyqy-qzqz; R[1]=2.0*(qxqy-q0qz); R[2]=2.0*(qxqz+q0qy);
54 R[3]=2.0*(qxqy+q0qz); R[4]=q0q0-qxqx+qyqy-qzqz; R[5]=2.0*(qyqz-q0qx);
55 R[6]=2.0*(qxqz-q0qy); R[7]=2.0*(qyqz+q0qx); R[8]=q0q0-qxqx-qyqy+qzqz;
56 }
57
58 /*\}*/
59 #endif /* DB_UTILITIES_ROTATION */
60