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