--- /dev/null
+/*
+ * sensord
+ *
+ * Copyright (c) 2014 Samsung Electronics Co., Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#if defined (_EULER_ANGLES_H) && defined (_VECTOR_H)
+
+#include <math.h>
+
+#define EULER_SIZE 3
+#define RAD2DEG 57.2957795
+#define DEG2RAD 0.0174532925
+
+template <typename TYPE>
+euler_angles<TYPE>::euler_angles() : m_ang(EULER_SIZE)
+{
+}
+
+template <typename TYPE>
+euler_angles<TYPE>::euler_angles(const TYPE roll, const TYPE pitch, const TYPE yaw)
+{
+ TYPE euler_data[EULER_SIZE] = {roll, pitch, yaw};
+
+ vector<TYPE> v(EULER_SIZE, euler_data);
+ m_ang = v;
+}
+
+template <typename TYPE>
+euler_angles<TYPE>::euler_angles(const vector<TYPE> v)
+{
+ m_ang = v;
+}
+
+template <typename TYPE>
+euler_angles<TYPE>::euler_angles(const euler_angles<TYPE>& e)
+{
+ m_ang = e.m_ang;
+}
+
+template <typename TYPE>
+euler_angles<TYPE>::~euler_angles()
+{
+
+}
+
+template <typename TYPE>
+euler_angles<TYPE> euler_angles<TYPE>::operator =(const euler_angles<TYPE>& e)
+{
+ m_ang = e.m_ang;
+}
+
+template <typename T>
+euler_angles<T> quat2euler(const quaternion<T> q)
+{
+ T w, x, y, z;
+ T R11, R21, R31, R32, R33;
+ T phi, theta, psi;
+
+ w = q.m_quat.m_vec[0];
+ x = q.m_quat.m_vec[1];
+ y = q.m_quat.m_vec[2];
+ z = q.m_quat.m_vec[3];
+
+ R11 = 2 * (w * w) - 1 + 2 * (x * x);
+ R21 = 2 * ((x * y) - (w * z));
+ R31 = 2 * ((x * z) + (w * y));
+ R32 = 2 * ((y * z) - (w * x));
+ R33 = 2 * (w * w) - 1 + 2 * (z * z);
+
+ phi = atan2(R32, R33);
+ theta = -atan(R31 / sqrt(1 - (R31 * R31)));
+ psi = atan2(R21, R11);
+
+ euler_angles<T> e(phi, theta, psi);
+
+ return e;
+}
+
+template <typename T>
+euler_angles<T> rad2deg(const euler_angles<T> e)
+{
+ return (e.m_ang * (T) RAD2DEG);
+}
+
+template <typename T>
+euler_angles<T> deg2rad(const euler_angles<T> e)
+{
+ return (e.m_ang * (T) DEG2RAD);
+}
+
+#endif //_EULER_ANGLES_H
--- /dev/null
+/*
+ * sensord
+ *
+ * Copyright (c) 2014 Samsung Electronics Co., Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef _EULER_ANGLES_H
+#define _EULER_ANGLES_H
+
+#include "vector.h"
+#include "quaternion.h"
+
+template <typename TYPE>
+class euler_angles {
+public:
+ vector<TYPE> m_ang;
+
+ euler_angles();
+ euler_angles(const TYPE roll, const TYPE pitch, const TYPE yaw);
+ euler_angles(const vector<TYPE> v);
+ euler_angles(const euler_angles<TYPE>& e);
+ ~euler_angles();
+
+ euler_angles<TYPE> operator =(const euler_angles<TYPE>& e);
+
+ template<typename T> friend euler_angles<T> quat2euler(const quaternion<T> q);
+ template<typename T> friend euler_angles<T> rad2deg(const euler_angles<T> e);
+ template<typename T> friend euler_angles<T> deg2rad(const euler_angles<T> e);
+};
+
+#include "euler_angles.cpp"
+
+#endif //_EULER_ANGLES_H
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
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+ <name>euler_angles_test</name>
+ <comment></comment>
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+ <value>all</value>
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+ <value>true</value>
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+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
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+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
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+ </arguments>
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--- /dev/null
+/*
+ * sensord
+ *
+ * Copyright (c) 2014 Samsung Electronics Co., Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "../../euler_angles.h"
+
+int main()
+{
+ float arr0[3] = {234.98, 345.24, -56.12};
+ float arr1[3] = {56, -34, 76};
+ float arr2[4] = {0.6, 0.6, -.18, -.44};
+ float arr3[4] = {-0.5, -0.36, .43, .03};
+
+ vector<float> v0(3, arr0);
+ vector<float> v1(3, arr1);
+ vector<float> v2(4, arr2);
+ vector<float> v3(4, arr3);
+
+ quaternion<float> q1(v2);
+ quaternion<float> q2(v3);
+
+ euler_angles<float> e0(v0);
+ euler_angles<float> e1(v1);
+ euler_angles<float> e2((float)234.98, (float)345.24, (float)-56.12);
+ euler_angles<float> e3(e1);
+ euler_angles<float> e4;
+
+ cout << "Constructor tests\n";
+ cout << "input\t" << v0 << "\n";
+ cout << "output\t" << e0.m_ang << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << e1.m_ang << "\n\n";
+ cout << "input\t" << v0 << "\n";
+ cout << "output\t" << e2.m_ang << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << e3.m_ang << "\n\n";
+ cout << "default constructor\n";
+ cout << "output\t" << e4.m_ang << "\n\n";
+
+ cout << "Quaternion to Euler\n";
+ euler_angles<float> e5 = quat2euler(q1);
+ cout << "input\t" << q1.m_quat << "\n";
+ cout << "output\t" << e5.m_ang << "\n\n";
+ euler_angles<float> e8 = quat2euler(q2);
+ cout << "input\t" << q2.m_quat << "\n";
+ cout << "output\t" << e8.m_ang << "\n\n";
+
+ cout << "Radians to Degrees\n";
+ euler_angles<float> e6 = deg2rad(e0);
+ cout << "input\t" << e0.m_ang << "\n";
+ cout << "output\t" << e6.m_ang << "\n\n";
+
+ cout << "Degrees to Radians\n";
+ euler_angles<float> e7 = rad2deg(e6);
+ cout << "input\t" << e6.m_ang << "\n";
+ cout << "output\t" << e7.m_ang << "\n\n";
+}
+
projects / platform / core / system / sensord.git / commitdiff