PX4-Autopilot/src/lib/conversion/rotation.cpp

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/**
 * @file rotation.cpp
 *
 * Vector rotation library
 */

#include "math.h"
#include "rotation.h"

__EXPORT void
get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
{
	float roll  = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll;
	float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch;
	float yaw   = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw;

	rot_matrix->from_euler(roll, pitch, yaw);
}

#define HALF_SQRT_2 0.70710678118654757f

__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{
    float tmp;
    switch (rot) {
    case ROTATION_NONE:
    case ROTATION_MAX:
        return;
    case ROTATION_YAW_45: {
        tmp = HALF_SQRT_2*(x - y);
        y   = HALF_SQRT_2*(x + y);
        x = tmp;
        return;
    }
    case ROTATION_YAW_90: {
        tmp = x; x = -y; y = tmp;
        return;
    }
    case ROTATION_YAW_135: {
        tmp = -HALF_SQRT_2*(x + y);
        y   =  HALF_SQRT_2*(x - y);
        x = tmp;
        return;
    }
    case ROTATION_YAW_180:
        x = -x; y = -y;
        return;
    case ROTATION_YAW_225: {
        tmp = HALF_SQRT_2*(y - x);
        y   = -HALF_SQRT_2*(x + y);
        x = tmp;
        return;
    }
    case ROTATION_YAW_270: {
        tmp = x; x = y; y = -tmp;
        return;
    }
    case ROTATION_YAW_315: {
        tmp = HALF_SQRT_2*(x + y);
        y   = HALF_SQRT_2*(y - x);
        x = tmp;
        return;
    }
    case ROTATION_ROLL_180: {
        y = -y; z = -z;
        return;
    }
    case ROTATION_ROLL_180_YAW_45: {
        tmp = HALF_SQRT_2*(x + y);
        y   = HALF_SQRT_2*(x - y);
        x = tmp; z = -z;
        return;
    }
    case ROTATION_ROLL_180_YAW_90: {
        tmp = x; x = y; y = tmp; z = -z;
        return;
    }
    case ROTATION_ROLL_180_YAW_135: {
        tmp = HALF_SQRT_2*(y - x);
        y   = HALF_SQRT_2*(y + x);
        x = tmp; z = -z;
        return;
    }
    case ROTATION_PITCH_180: {
        x = -x; z = -z;
        return;
    }
    case ROTATION_ROLL_180_YAW_225: {
        tmp = -HALF_SQRT_2*(x + y);
        y   =  HALF_SQRT_2*(y - x);
        x = tmp; z = -z;
        return;
    }
    case ROTATION_ROLL_180_YAW_270: {
        tmp = x; x = -y; y = -tmp; z = -z;
        return;
    }
    case ROTATION_ROLL_180_YAW_315: {
        tmp =  HALF_SQRT_2*(x - y);
        y   = -HALF_SQRT_2*(x + y);
        x = tmp; z = -z;
        return;
    }
    case ROTATION_ROLL_90: {
        tmp = z; z = y; y = -tmp;
        return;
    }
    case ROTATION_ROLL_90_YAW_45: {
        tmp = z; z = y; y = -tmp;
        tmp = HALF_SQRT_2*(x - y);
        y   = HALF_SQRT_2*(x + y);
        x = tmp;
        return;
    }
    case ROTATION_ROLL_90_YAW_90: {
        tmp = z; z = y; y = -tmp;
        tmp = x; x = -y; y = tmp;
        return;
    }
    case ROTATION_ROLL_90_YAW_135: {
        tmp = z; z = y; y = -tmp;
        tmp = -HALF_SQRT_2*(x + y);
        y   =  HALF_SQRT_2*(x - y);
        x = tmp;
        return;
    }
    case ROTATION_ROLL_270: {
        tmp = z; z = -y; y = tmp;
        return;
    }
    case ROTATION_ROLL_270_YAW_45: {
        tmp = z; z = -y; y = tmp;
        tmp = HALF_SQRT_2*(x - y);
        y   = HALF_SQRT_2*(x + y);
        x = tmp;
        return;
    }
    case ROTATION_ROLL_270_YAW_90: {
        tmp = z; z = -y; y = tmp;
        tmp = x; x = -y; y = tmp;
        return;
    }
    case ROTATION_ROLL_270_YAW_135: {
        tmp = z; z = -y; y = tmp;
        tmp = -HALF_SQRT_2*(x + y);
        y   =  HALF_SQRT_2*(x - y);
        x = tmp;
        return;
    }
    case ROTATION_PITCH_90: {
        tmp = z; z = -x; x = tmp;
        return;
    }
    case ROTATION_PITCH_270: {
        tmp = z; z = x; x = -tmp;
        return;
    }
    }
}