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/*
* Copyright (C) 2011 The Android Open Source Project
*
* 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.
*/
/* $Id: db_utilities_rotation.h,v 1.2 2010/09/03 12:00:11 bsouthall Exp $ */
#ifndef DB_UTILITIES_ROTATION
#define DB_UTILITIES_ROTATION
#include "db_utilities.h"
/*****************************************************************
* Lean and mean begins here *
*****************************************************************/
/*!
* \defgroup LMRotation (LM) Rotation Utilities (quaternions, orthonormal)
*/
/*\{*/
/*!
Takes a unit quaternion and gives its corresponding rotation matrix.
\param R rotation matrix (out)
\param q quaternion
*/
inline void db_QuaternionToRotation(double R[9],const double q[4])
{
double q0q0,q0qx,q0qy,q0qz,qxqx,qxqy,qxqz,qyqy,qyqz,qzqz;
q0q0=q[0]*q[0];
q0qx=q[0]*q[1];
q0qy=q[0]*q[2];
q0qz=q[0]*q[3];
qxqx=q[1]*q[1];
qxqy=q[1]*q[2];
qxqz=q[1]*q[3];
qyqy=q[2]*q[2];
qyqz=q[2]*q[3];
qzqz=q[3]*q[3];
R[0]=q0q0+qxqx-qyqy-qzqz; R[1]=2.0*(qxqy-q0qz); R[2]=2.0*(qxqz+q0qy);
R[3]=2.0*(qxqy+q0qz); R[4]=q0q0-qxqx+qyqy-qzqz; R[5]=2.0*(qyqz-q0qx);
R[6]=2.0*(qxqz-q0qy); R[7]=2.0*(qyqz+q0qx); R[8]=q0q0-qxqx-qyqy+qzqz;
}
/*\}*/
#endif /* DB_UTILITIES_ROTATION */
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