mirror of
https://github.com/PhotonVision/photonvision
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a764ace7f2
(Very) beta AprilTag support in PhotonVision. Disables Picam GPU acceleration until we can debug auto exposure in the MMAL driver. Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com> Co-authored-by: Matt <matthew.morley.ca@gmail.com> Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com> Co-authored-by: Chris <chrisgerth010592@gmail.com> Co-authored-by: mdurrani808 <mdurrani808@gmail.com>
115 lines
2.9 KiB
C++
115 lines
2.9 KiB
C++
/*
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* MIT License
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*
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* Copyright (c) 2022 PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, 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
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* all 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
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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#include <frc/EigenCore.h>
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#include <wpi/SymbolExports.h>
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namespace frc {
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class WPILIB_DLLEXPORT Quaternion {
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public:
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/**
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* Constructs a quaternion with a default angle of 0 degrees.
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*/
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Quaternion() = default;
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/**
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* Constructs a quaternion with the given components.
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*
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* @param w W component of the quaternion.
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* @param x X component of the quaternion.
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* @param y Y component of the quaternion.
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* @param z Z component of the quaternion.
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*/
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Quaternion(double w, double x, double y, double z);
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/**
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* Multiply with another quaternion.
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*
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* @param other The other quaternion.
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*/
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Quaternion operator*(const Quaternion& other) const;
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/**
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* Checks equality between this Quaternion and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are equal.
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*/
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bool operator==(const Quaternion& other) const;
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/**
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* Checks inequality between this Quaternion and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are not equal.
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*/
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bool operator!=(const Quaternion& other) const;
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/**
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* Returns the inverse of the quaternion.
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*/
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Quaternion Inverse() const;
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/**
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* Normalizes the quaternion.
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*/
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Quaternion Normalize() const;
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/**
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* Returns W component of the quaternion.
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*/
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double W() const;
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/**
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* Returns X component of the quaternion.
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*/
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double X() const;
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/**
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* Returns Y component of the quaternion.
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*/
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double Y() const;
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/**
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* Returns Z component of the quaternion.
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*/
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double Z() const;
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/**
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* Returns the rotation vector representation of this quaternion.
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*
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* This is also the log operator of SO(3).
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*/
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Eigen::Vector3d ToRotationVector() const;
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private:
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double m_r = 1.0;
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Eigen::Vector3d m_v{0.0, 0.0, 0.0};
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};
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} // namespace frc
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