1
2 /********************************************************************************************/
3 /* */
4 /* HSO4.hpp header file */
5 /* */
6 /* This file is not currently part of the Boost library. It is simply an example of the use */
7 /* quaternions can be put to. Hopefully it will be useful too. */
8 /* */
9 /* This file provides tools to convert between quaternions and R^4 rotation matrices. */
10 /* */
11 /********************************************************************************************/
12
13 // (C) Copyright Hubert Holin 2001.
14 // Distributed under the Boost Software License, Version 1.0. (See
15 // accompanying file LICENSE_1_0.txt or copy at
16 // http://www.boost.org/LICENSE_1_0.txt)
17
18 #ifndef TEST_HSO4_HPP
19 #define TEST_HSO4_HPP
20
21 #include <utility>
22
23 #include "HSO3.hpp"
24
25
26 template<typename TYPE_FLOAT>
27 struct R4_matrix
28 {
29 TYPE_FLOAT a11, a12, a13, a14;
30 TYPE_FLOAT a21, a22, a23, a24;
31 TYPE_FLOAT a31, a32, a33, a34;
32 TYPE_FLOAT a41, a42, a43, a44;
33 };
34
35
36 // Note: the input quaternions need not be of norm 1 for the following function
37
38 template<typename TYPE_FLOAT>
quaternions_to_R4_rotation(::std::pair<::boost::math::quaternion<TYPE_FLOAT>,::boost::math::quaternion<TYPE_FLOAT>> const & pq)39 R4_matrix<TYPE_FLOAT> quaternions_to_R4_rotation(::std::pair< ::boost::math::quaternion<TYPE_FLOAT> , ::boost::math::quaternion<TYPE_FLOAT> > const & pq)
40 {
41 using ::std::numeric_limits;
42
43 TYPE_FLOAT a0 = pq.first.R_component_1();
44 TYPE_FLOAT b0 = pq.first.R_component_2();
45 TYPE_FLOAT c0 = pq.first.R_component_3();
46 TYPE_FLOAT d0 = pq.first.R_component_4();
47
48 TYPE_FLOAT norme_carre0 = a0*a0+b0*b0+c0*c0+d0*d0;
49
50 if (norme_carre0 <= numeric_limits<TYPE_FLOAT>::epsilon())
51 {
52 ::std::string error_reporting("Argument to quaternions_to_R4_rotation is too small!");
53 ::std::underflow_error bad_argument(error_reporting);
54
55 throw(bad_argument);
56 }
57
58 TYPE_FLOAT a1 = pq.second.R_component_1();
59 TYPE_FLOAT b1 = pq.second.R_component_2();
60 TYPE_FLOAT c1 = pq.second.R_component_3();
61 TYPE_FLOAT d1 = pq.second.R_component_4();
62
63 TYPE_FLOAT norme_carre1 = a1*a1+b1*b1+c1*c1+d1*d1;
64
65 if (norme_carre1 <= numeric_limits<TYPE_FLOAT>::epsilon())
66 {
67 ::std::string error_reporting("Argument to quaternions_to_R4_rotation is too small!");
68 ::std::underflow_error bad_argument(error_reporting);
69
70 throw(bad_argument);
71 }
72
73 TYPE_FLOAT prod_norm = norme_carre0*norme_carre1;
74
75 TYPE_FLOAT a0a1 = a0*a1;
76 TYPE_FLOAT a0b1 = a0*b1;
77 TYPE_FLOAT a0c1 = a0*c1;
78 TYPE_FLOAT a0d1 = a0*d1;
79 TYPE_FLOAT b0a1 = b0*a1;
80 TYPE_FLOAT b0b1 = b0*b1;
81 TYPE_FLOAT b0c1 = b0*c1;
82 TYPE_FLOAT b0d1 = b0*d1;
83 TYPE_FLOAT c0a1 = c0*a1;
84 TYPE_FLOAT c0b1 = c0*b1;
85 TYPE_FLOAT c0c1 = c0*c1;
86 TYPE_FLOAT c0d1 = c0*d1;
87 TYPE_FLOAT d0a1 = d0*a1;
88 TYPE_FLOAT d0b1 = d0*b1;
89 TYPE_FLOAT d0c1 = d0*c1;
90 TYPE_FLOAT d0d1 = d0*d1;
91
92 R4_matrix<TYPE_FLOAT> out_matrix;
93
94 out_matrix.a11 = (+a0a1+b0b1+c0c1+d0d1)/prod_norm;
95 out_matrix.a12 = (+a0b1-b0a1-c0d1+d0c1)/prod_norm;
96 out_matrix.a13 = (+a0c1+b0d1-c0a1-d0b1)/prod_norm;
97 out_matrix.a14 = (+a0d1-b0c1+c0b1-d0a1)/prod_norm;
98 out_matrix.a21 = (-a0b1+b0a1-c0d1+d0c1)/prod_norm;
99 out_matrix.a22 = (+a0a1+b0b1-c0c1-d0d1)/prod_norm;
100 out_matrix.a23 = (-a0d1+b0c1+c0b1-d0a1)/prod_norm;
101 out_matrix.a24 = (+a0c1+b0d1+c0a1+d0b1)/prod_norm;
102 out_matrix.a31 = (-a0c1+b0d1+c0a1-d0b1)/prod_norm;
103 out_matrix.a32 = (+a0d1+b0c1+c0b1+d0a1)/prod_norm;
104 out_matrix.a33 = (+a0a1-b0b1+c0c1-d0d1)/prod_norm;
105 out_matrix.a34 = (-a0b1-b0a1+c0d1+d0c1)/prod_norm;
106 out_matrix.a41 = (-a0d1-b0c1+c0b1+d0a1)/prod_norm;
107 out_matrix.a42 = (-a0c1+b0d1-c0a1+d0b1)/prod_norm;
108 out_matrix.a43 = (+a0b1+b0a1+c0d1+d0c1)/prod_norm;
109 out_matrix.a44 = (+a0a1-b0b1-c0c1+d0d1)/prod_norm;
110
111 return(out_matrix);
112 }
113
114
115 template<typename TYPE_FLOAT>
is_R4_rotation_matrix(R4_matrix<TYPE_FLOAT> const & mat)116 inline bool is_R4_rotation_matrix(R4_matrix<TYPE_FLOAT> const & mat)
117 {
118 using ::std::abs;
119
120 using ::std::numeric_limits;
121
122 return (
123 !(
124 (abs(mat.a11*mat.a11+mat.a21*mat.a21+mat.a31*mat.a31+mat.a41*mat.a41 - static_cast<TYPE_FLOAT>(1)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
125 (abs(mat.a11*mat.a12+mat.a21*mat.a22+mat.a31*mat.a32+mat.a41*mat.a42 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
126 (abs(mat.a11*mat.a13+mat.a21*mat.a23+mat.a31*mat.a33+mat.a41*mat.a43 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
127 (abs(mat.a11*mat.a14+mat.a21*mat.a24+mat.a31*mat.a34+mat.a41*mat.a44 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
128 //(abs(mat.a11*mat.a12+mat.a21*mat.a22+mat.a31*mat.a32+mat.a41*mat.a42 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
129 (abs(mat.a12*mat.a12+mat.a22*mat.a22+mat.a32*mat.a32+mat.a42*mat.a42 - static_cast<TYPE_FLOAT>(1)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
130 (abs(mat.a12*mat.a13+mat.a22*mat.a23+mat.a32*mat.a33+mat.a42*mat.a43 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
131 (abs(mat.a12*mat.a14+mat.a22*mat.a24+mat.a32*mat.a34+mat.a42*mat.a44 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
132 //(abs(mat.a11*mat.a13+mat.a21*mat.a23+mat.a31*mat.a33+mat.a41*mat.a43 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
133 //(abs(mat.a12*mat.a13+mat.a22*mat.a23+mat.a32*mat.a33+mat.a42*mat.a43 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
134 (abs(mat.a13*mat.a13+mat.a23*mat.a23+mat.a33*mat.a33+mat.a43*mat.a43 - static_cast<TYPE_FLOAT>(1)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
135 (abs(mat.a13*mat.a14+mat.a23*mat.a24+mat.a33*mat.a34+mat.a43*mat.a44 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
136 //(abs(mat.a11*mat.a14+mat.a21*mat.a24+mat.a31*mat.a34+mat.a41*mat.a44 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
137 //(abs(mat.a12*mat.a14+mat.a22*mat.a24+mat.a32*mat.a34+mat.a42*mat.a44 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
138 //(abs(mat.a13*mat.a14+mat.a23*mat.a24+mat.a33*mat.a34+mat.a43*mat.a44 - static_cast<TYPE_FLOAT>(0)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())||
139 (abs(mat.a14*mat.a14+mat.a24*mat.a24+mat.a34*mat.a34+mat.a44*mat.a44 - static_cast<TYPE_FLOAT>(1)) > static_cast<TYPE_FLOAT>(10)*numeric_limits<TYPE_FLOAT>::epsilon())
140 )
141 );
142 }
143
144
145 template<typename TYPE_FLOAT>
R4_rotation_to_quaternions(R4_matrix<TYPE_FLOAT> const & rot,::std::pair<::boost::math::quaternion<TYPE_FLOAT>,::boost::math::quaternion<TYPE_FLOAT>> const * hint=0)146 ::std::pair< ::boost::math::quaternion<TYPE_FLOAT> , ::boost::math::quaternion<TYPE_FLOAT> > R4_rotation_to_quaternions( R4_matrix<TYPE_FLOAT> const & rot,
147 ::std::pair< ::boost::math::quaternion<TYPE_FLOAT> , ::boost::math::quaternion<TYPE_FLOAT> > const * hint = 0)
148 {
149 if (!is_R4_rotation_matrix(rot))
150 {
151 ::std::string error_reporting("Argument to R4_rotation_to_quaternions is not an R^4 rotation matrix!");
152 ::std::range_error bad_argument(error_reporting);
153
154 throw(bad_argument);
155 }
156
157 R3_matrix<TYPE_FLOAT> mat;
158
159 mat.a11 = -rot.a31*rot.a42+rot.a32*rot.a41+rot.a22*rot.a11-rot.a21*rot.a12;
160 mat.a12 = -rot.a31*rot.a43+rot.a33*rot.a41+rot.a23*rot.a11-rot.a21*rot.a13;
161 mat.a13 = -rot.a31*rot.a44+rot.a34*rot.a41+rot.a24*rot.a11-rot.a21*rot.a14;
162 mat.a21 = -rot.a31*rot.a12-rot.a22*rot.a41+rot.a32*rot.a11+rot.a21*rot.a42;
163 mat.a22 = -rot.a31*rot.a13-rot.a23*rot.a41+rot.a33*rot.a11+rot.a21*rot.a43;
164 mat.a23 = -rot.a31*rot.a14-rot.a24*rot.a41+rot.a34*rot.a11+rot.a21*rot.a44;
165 mat.a31 = +rot.a31*rot.a22-rot.a12*rot.a41+rot.a42*rot.a11-rot.a21*rot.a32;
166 mat.a32 = +rot.a31*rot.a23-rot.a13*rot.a41+rot.a43*rot.a11-rot.a21*rot.a33;
167 mat.a33 = +rot.a31*rot.a24-rot.a14*rot.a41+rot.a44*rot.a11-rot.a21*rot.a34;
168
169 ::boost::math::quaternion<TYPE_FLOAT> q = R3_rotation_to_quaternion(mat);
170
171 ::boost::math::quaternion<TYPE_FLOAT> p =
172 ::boost::math::quaternion<TYPE_FLOAT>(rot.a11,rot.a12,rot.a13,rot.a14)*q;
173
174 if ((hint != 0) && (abs(hint->second+q) < abs(hint->second-q)))
175 {
176 return(::std::make_pair(-p,-q));
177 }
178
179 return(::std::make_pair(p,q));
180 }
181
182 #endif /* TEST_HSO4_HPP */
183
184