419 lines
11 KiB
C++
419 lines
11 KiB
C++
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////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#include "RTMath.h"
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#include <Arduino.h>
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#ifndef RTARDULINK_MODE
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void RTMath::display(const char *label, RTVector3& vec)
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{
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Serial.print(label);
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Serial.print(" x:"); Serial.print(vec.x());
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Serial.print(" y:"); Serial.print(vec.y());
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Serial.print(" z:"); Serial.print(vec.z());
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}
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void RTMath::displayDegrees(const char *label, RTVector3& vec)
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{
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Serial.print(label);
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Serial.print(" x:"); Serial.print(vec.x() * RTMATH_RAD_TO_DEGREE);
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Serial.print(" y:"); Serial.print(vec.y() * RTMATH_RAD_TO_DEGREE);
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Serial.print(" z:"); Serial.print(vec.z() * RTMATH_RAD_TO_DEGREE);
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}
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void RTMath::displayRollPitchYaw(const char *label, RTVector3& vec)
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{
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Serial.print(label);
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Serial.print(" roll:"); Serial.print(vec.x() * RTMATH_RAD_TO_DEGREE);
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Serial.print(" pitch:"); Serial.print(vec.y() * RTMATH_RAD_TO_DEGREE);
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Serial.print(" yaw:"); Serial.print(vec.z() * RTMATH_RAD_TO_DEGREE);
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}
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void RTMath::display(const char *label, RTQuaternion& quat)
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{
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Serial.print(label);
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Serial.print(" scalar:"); Serial.print(quat.scalar());
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Serial.print(" x:"); Serial.print(quat.x());
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Serial.print(" y:"); Serial.print(quat.y());
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Serial.print(" z:"); Serial.print(quat.z());
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}
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RTVector3 RTMath::poseFromAccelMag(const RTVector3& accel, const RTVector3& mag)
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{
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RTVector3 result;
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RTQuaternion m;
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RTQuaternion q;
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accel.accelToEuler(result);
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// q.fromEuler(result);
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// since result.z() is always 0, this can be optimized a little
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RTFLOAT cosX2 = cos(result.x() / 2.0f);
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RTFLOAT sinX2 = sin(result.x() / 2.0f);
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RTFLOAT cosY2 = cos(result.y() / 2.0f);
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RTFLOAT sinY2 = sin(result.y() / 2.0f);
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q.setScalar(cosX2 * cosY2);
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q.setX(sinX2 * cosY2);
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q.setY(cosX2 * sinY2);
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q.setZ(-sinX2 * sinY2);
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// q.normalize();
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m.setScalar(0);
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m.setX(mag.x());
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m.setY(mag.y());
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m.setZ(mag.z());
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m = q * m * q.conjugate();
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result.setZ(-atan2(m.y(), m.x()));
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return result;
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}
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void RTMath::convertToVector(unsigned char *rawData, RTVector3& vec, RTFLOAT scale, bool bigEndian)
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{
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if (bigEndian) {
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vec.setX((RTFLOAT)((int16_t)(((uint16_t)rawData[0] << 8) | (uint16_t)rawData[1])) * scale);
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vec.setY((RTFLOAT)((int16_t)(((uint16_t)rawData[2] << 8) | (uint16_t)rawData[3])) * scale);
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vec.setZ((RTFLOAT)((int16_t)(((uint16_t)rawData[4] << 8) | (uint16_t)rawData[5])) * scale);
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} else {
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vec.setX((RTFLOAT)((int16_t)(((uint16_t)rawData[1] << 8) | (uint16_t)rawData[0])) * scale);
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vec.setY((RTFLOAT)((int16_t)(((uint16_t)rawData[3] << 8) | (uint16_t)rawData[2])) * scale);
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vec.setZ((RTFLOAT)((int16_t)(((uint16_t)rawData[5] << 8) | (uint16_t)rawData[4])) * scale);
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}
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}
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#endif // #ifndef RTARDULINK_MODE
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//----------------------------------------------------------
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//
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// The RTVector3 class
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RTVector3::RTVector3()
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{
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zero();
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}
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RTVector3::RTVector3(RTFLOAT x, RTFLOAT y, RTFLOAT z)
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{
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m_data[0] = x;
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m_data[1] = y;
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m_data[2] = z;
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}
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RTVector3& RTVector3::operator =(const RTVector3& vec)
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{
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if (this == &vec)
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return *this;
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m_data[0] = vec.m_data[0];
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m_data[1] = vec.m_data[1];
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m_data[2] = vec.m_data[2];
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return *this;
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}
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const RTVector3& RTVector3::operator +=(RTVector3& vec)
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{
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for (int i = 0; i < 3; i++)
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m_data[i] += vec.m_data[i];
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return *this;
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}
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const RTVector3& RTVector3::operator -=(RTVector3& vec)
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{
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for (int i = 0; i < 3; i++)
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m_data[i] -= vec.m_data[i];
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return *this;
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}
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void RTVector3::zero()
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{
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for (int i = 0; i < 3; i++)
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m_data[i] = 0;
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}
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#ifndef RTARDULINK_MODE
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RTFLOAT RTVector3::dotProduct(const RTVector3& a, const RTVector3& b)
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{
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return a.x() * b.x() + a.y() * b.y() + a.z() * b.z();
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}
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void RTVector3::crossProduct(const RTVector3& a, const RTVector3& b, RTVector3& d)
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{
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d.setX(a.y() * b.z() - a.z() * b.y());
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d.setY(a.z() * b.x() - a.x() * b.z());
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d.setZ(a.x() * b.y() - a.y() * b.x());
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}
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void RTVector3::accelToEuler(RTVector3& rollPitchYaw) const
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{
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RTVector3 normAccel = *this;
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normAccel.normalize();
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rollPitchYaw.setX(atan2(normAccel.y(), normAccel.z()));
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rollPitchYaw.setY(-atan2(normAccel.x(), sqrt(normAccel.y() * normAccel.y() + normAccel.z() * normAccel.z())));
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rollPitchYaw.setZ(0);
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}
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void RTVector3::accelToQuaternion(RTQuaternion& qPose) const
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{
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RTVector3 normAccel = *this;
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RTVector3 vec;
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RTVector3 z(0, 0, 1.0);
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normAccel.normalize();
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RTFLOAT angle = acos(RTVector3::dotProduct(z, normAccel));
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RTVector3::crossProduct(normAccel, z, vec);
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vec.normalize();
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qPose.fromAngleVector(angle, vec);
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}
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void RTVector3::normalize()
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{
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RTFLOAT length = (RTFLOAT)sqrt(m_data[0] * m_data[0] + m_data[1] * m_data[1] +
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m_data[2] * m_data[2]);
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if ((length == 0) || (length == 1))
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return;
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m_data[0] /= length;
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m_data[1] /= length;
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m_data[2] /= length;
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}
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RTFLOAT RTVector3::length()
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{
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return (RTFLOAT)sqrt(m_data[0] * m_data[0] + m_data[1] * m_data[1] +
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m_data[2] * m_data[2]);
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}
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#endif // #ifndef RTARDULINK_MODE
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RTFLOAT RTVector3::squareLength()
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{
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return m_data[0] * m_data[0] + m_data[1] * m_data[1] +
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m_data[2] * m_data[2];
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}
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#ifndef RTARDULINK_MODE
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//----------------------------------------------------------
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//
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// The RTQuaternion class
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RTQuaternion::RTQuaternion()
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{
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zero();
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}
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RTQuaternion::RTQuaternion(RTFLOAT scalar, RTFLOAT x, RTFLOAT y, RTFLOAT z)
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{
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m_data[0] = scalar;
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m_data[1] = x;
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m_data[2] = y;
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m_data[3] = z;
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}
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RTQuaternion& RTQuaternion::operator =(const RTQuaternion& quat)
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{
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if (this == &quat)
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return *this;
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m_data[0] = quat.m_data[0];
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m_data[1] = quat.m_data[1];
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m_data[2] = quat.m_data[2];
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m_data[3] = quat.m_data[3];
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return *this;
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}
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RTQuaternion& RTQuaternion::operator +=(const RTQuaternion& quat)
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{
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for (int i = 0; i < 4; i++)
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m_data[i] += quat.m_data[i];
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return *this;
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}
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RTQuaternion& RTQuaternion::operator -=(const RTQuaternion& quat)
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{
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for (int i = 0; i < 4; i++)
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m_data[i] -= quat.m_data[i];
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return *this;
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}
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RTQuaternion& RTQuaternion::operator -=(const RTFLOAT val)
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{
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for (int i = 0; i < 4; i++)
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m_data[i] -= val;
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return *this;
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}
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RTQuaternion& RTQuaternion::operator *=(const RTQuaternion& qb)
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{
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RTQuaternion qa;
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qa = *this;
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m_data[0] = qa.scalar() * qb.scalar() - qa.x() * qb.x() - qa.y() * qb.y() - qa.z() * qb.z();
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m_data[1] = qa.scalar() * qb.x() + qa.x() * qb.scalar() + qa.y() * qb.z() - qa.z() * qb.y();
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m_data[2] = qa.scalar() * qb.y() - qa.x() * qb.z() + qa.y() * qb.scalar() + qa.z() * qb.x();
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m_data[3] = qa.scalar() * qb.z() + qa.x() * qb.y() - qa.y() * qb.x() + qa.z() * qb.scalar();
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return *this;
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}
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RTQuaternion& RTQuaternion::operator *=(const RTFLOAT val)
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{
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m_data[0] *= val;
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m_data[1] *= val;
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m_data[2] *= val;
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m_data[3] *= val;
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return *this;
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}
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const RTQuaternion RTQuaternion::operator *(const RTQuaternion& qb) const
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{
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RTQuaternion result = *this;
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result *= qb;
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return result;
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}
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const RTQuaternion RTQuaternion::operator *(const RTFLOAT val) const
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{
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RTQuaternion result = *this;
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result *= val;
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return result;
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}
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const RTQuaternion RTQuaternion::operator -(const RTQuaternion& qb) const
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{
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RTQuaternion result = *this;
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result -= qb;
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return result;
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}
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const RTQuaternion RTQuaternion::operator -(const RTFLOAT val) const
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{
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RTQuaternion result = *this;
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result -= val;
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return result;
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}
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void RTQuaternion::zero()
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{
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for (int i = 0; i < 4; i++)
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m_data[i] = 0;
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}
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void RTQuaternion::normalize()
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{
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RTFLOAT length = sqrt(m_data[0] * m_data[0] + m_data[1] * m_data[1] +
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m_data[2] * m_data[2] + m_data[3] * m_data[3]);
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if ((length == 0) || (length == 1))
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return;
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m_data[0] /= length;
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m_data[1] /= length;
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m_data[2] /= length;
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m_data[3] /= length;
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}
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void RTQuaternion::toEuler(RTVector3& vec)
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{
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vec.setX(atan2(2.0 * (m_data[2] * m_data[3] + m_data[0] * m_data[1]),
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1 - 2.0 * (m_data[1] * m_data[1] + m_data[2] * m_data[2])));
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vec.setY(asin(2.0 * (m_data[0] * m_data[2] - m_data[1] * m_data[3])));
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vec.setZ(atan2(2.0 * (m_data[1] * m_data[2] + m_data[0] * m_data[3]),
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1 - 2.0 * (m_data[2] * m_data[2] + m_data[3] * m_data[3])));
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}
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||
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void RTQuaternion::fromEuler(RTVector3& vec)
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{
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RTFLOAT cosX2 = cos(vec.x() / 2.0f);
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RTFLOAT sinX2 = sin(vec.x() / 2.0f);
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RTFLOAT cosY2 = cos(vec.y() / 2.0f);
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RTFLOAT sinY2 = sin(vec.y() / 2.0f);
|
||
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RTFLOAT cosZ2 = cos(vec.z() / 2.0f);
|
||
|
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RTFLOAT sinZ2 = sin(vec.z() / 2.0f);
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||
|
|
|
||
|
|
m_data[0] = cosX2 * cosY2 * cosZ2 + sinX2 * sinY2 * sinZ2;
|
||
|
|
m_data[1] = sinX2 * cosY2 * cosZ2 - cosX2 * sinY2 * sinZ2;
|
||
|
|
m_data[2] = cosX2 * sinY2 * cosZ2 + sinX2 * cosY2 * sinZ2;
|
||
|
|
m_data[3] = cosX2 * cosY2 * sinZ2 - sinX2 * sinY2 * cosZ2;
|
||
|
|
normalize();
|
||
|
|
}
|
||
|
|
|
||
|
|
RTQuaternion RTQuaternion::conjugate() const
|
||
|
|
{
|
||
|
|
RTQuaternion q;
|
||
|
|
q.setScalar(m_data[0]);
|
||
|
|
q.setX(-m_data[1]);
|
||
|
|
q.setY(-m_data[2]);
|
||
|
|
q.setZ(-m_data[3]);
|
||
|
|
return q;
|
||
|
|
}
|
||
|
|
|
||
|
|
void RTQuaternion::toAngleVector(RTFLOAT& angle, RTVector3& vec)
|
||
|
|
{
|
||
|
|
RTFLOAT halfTheta;
|
||
|
|
RTFLOAT sinHalfTheta;
|
||
|
|
|
||
|
|
halfTheta = acos(m_data[0]);
|
||
|
|
sinHalfTheta = sin(halfTheta);
|
||
|
|
|
||
|
|
if (sinHalfTheta == 0) {
|
||
|
|
vec.setX(1.0);
|
||
|
|
vec.setY(0);
|
||
|
|
vec.setZ(0);
|
||
|
|
} else {
|
||
|
|
vec.setX(m_data[1] / sinHalfTheta);
|
||
|
|
vec.setY(m_data[1] / sinHalfTheta);
|
||
|
|
vec.setZ(m_data[1] / sinHalfTheta);
|
||
|
|
}
|
||
|
|
angle = 2.0 * halfTheta;
|
||
|
|
}
|
||
|
|
|
||
|
|
void RTQuaternion::fromAngleVector(const RTFLOAT& angle, const RTVector3& vec)
|
||
|
|
{
|
||
|
|
RTFLOAT sinHalfTheta = sin(angle / 2.0);
|
||
|
|
m_data[0] = cos(angle / 2.0);
|
||
|
|
m_data[1] = vec.x() * sinHalfTheta;
|
||
|
|
m_data[2] = vec.y() * sinHalfTheta;
|
||
|
|
m_data[3] = vec.z() * sinHalfTheta;
|
||
|
|
}
|
||
|
|
#endif // #ifndef RTARDULINK_MODE
|