*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_9;
+package org.altusmetrum.altoslib_14;
-public class AltosRotation {
+public class AltosRotation extends AltosQuaternion {
private AltosQuaternion rotation;
+ /* Compute pitch angle from vertical by taking the pad
+ * orientation vector and rotating it by the current total
+ * rotation value. That will be a unit vector pointing along
+ * the airframe axis. The Z value will be the cosine of the
+ * angle from vertical.
+ *
+ * rot = ao_rotation * vertical * ao_rotation°
+ * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+ * = ((-a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+ * = a.z² - a.y² - a.x² + a.r²
+ *
+ * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+ * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+ * = -a.z² + a.y² + a.x² - a.r²
+ *
+ * tilt = acos(rot) (in radians)
+ */
+
public double tilt() {
double rotz = rotation.z * rotation.z - rotation.y * rotation.y - rotation.x * rotation.x + rotation.r * rotation.r;
return tilt;
}
- public void rotate(double dt, double x, double y, double z) {
- AltosQuaternion rot = AltosQuaternion.half_euler(x * dt / 2.0, y * dt / 2.0, z * dt / 2.0);
+ /* Compute azimuth angle from a reference line pointing out the side
+ * of the airframe
+ *
+ * rot = ao_rotation * x_axis * ao_rotation°
+ * rot = ao_rotation * (0,1,0,0) * ao_rotation°
+ * = (-a.x, a.r, a.z, -a.y) * (a.r, -a.x, -a.y, -a.z) . x
+ * = (-a.x * -a.x) + (a.r * a.r) + (a.z * -a.z) - (-a.y * -a.y)
+ * = a.x² + a.r² - a.z² - a.y²
+ *
+ * = (-a.x, a.r, a.z, -a.y) * (a.r, -a.x, -a.y, -a.z) . y
+ * = (-a.x * -a.y) - (a.r * -a.z) + (a.z * a.r) + (-a.y * -a.x)
+ * = a.x * a.y + a.r * a.z + a.z * a.r + a.y * a.x
+ *
+ * The X value will be the cosine of the rotation. The Y value will be the
+ * sine of the rotation; use the sign of that to figure out which direction from
+ * zero we've headed
+ */
+
+ public double azimuth() {
+ double rotx = rotation.x * rotation.x + rotation.r * rotation.r - rotation.z * rotation.z - rotation.y * rotation.y;
+ double roty = rotation.x * rotation.y + rotation.r * rotation.z + rotation.z * rotation.r + rotation.y * rotation.x;
+
+ double az = Math.acos(rotx) * 180.0 / Math.PI;
+ if (roty < 0)
+ return -az;
+ return az;
+ }
+
+ /* Given euler rotations in three axes, perform a combined rotation using
+ * quaternions
+ */
+ public void rotate(double x, double y, double z) {
+ AltosQuaternion rot = AltosQuaternion.euler(x, y, z);
rotation = rot.multiply(rotation).normalize();
}
double z,
int pad_orientation) {
AltosQuaternion orient = AltosQuaternion.vector(x, y, z).normalize();
- double sky = pad_orientation == 0 ? 1 : -1;
+ double sky = (pad_orientation & 1) == 0 ? 1 : -1;
AltosQuaternion up = new AltosQuaternion(0, 0, 0, sky);
rotation = up.vectors_to_rotation(orient);
}
+
+ public AltosRotation() {
+ rotation = new AltosQuaternion();
+ }
}