Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Update Wikipedia links for quaternion to Euler angle conversion (NFC) (#4995)

Browse Source
This commit is contained in:
Tyler Veness
2023-01-21 15:16:35 -08:00
committed by GitHub
parent 504fa22143
commit d48a83dee2
2 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
View File

@@ -184,7 +184,7 @@ units::radian_t Rotation3d::X() const {
double y = m_q.Y();
double z = m_q.Z();
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
return units::radian_t{
std::atan2(2.0 * (w * x + y * z), 1.0 - 2.0 * (x * x + y * y))};
}
@@ -195,7 +195,7 @@ units::radian_t Rotation3d::Y() const {
double y = m_q.Y();
double z = m_q.Z();
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
double ratio = 2.0 * (w * y - z * x);
if (std::abs(ratio) >= 1.0) {
return units::radian_t{std::copysign(std::numbers::pi / 2.0, ratio)};
@@ -210,7 +210,7 @@ units::radian_t Rotation3d::Z() const {
double y = m_q.Y();
double z = m_q.Z();
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
return units::radian_t{
std::atan2(2.0 * (w * z + x * y), 1.0 - 2.0 * (y * y + z * z))};
}