You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
57 lines
1.8 KiB
57 lines
1.8 KiB
/*
|
|
* Copyright (C) 2021 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.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <Eigen/Geometry>
|
|
|
|
namespace android {
|
|
namespace media {
|
|
|
|
/**
|
|
* Converts a rotation vector to an equivalent quaternion.
|
|
* The rotation vector is given as a 3-vector whose direction represents the rotation axis and its
|
|
* magnitude the rotation angle (in radians) around that axis.
|
|
*/
|
|
Eigen::Quaternionf rotationVectorToQuaternion(const Eigen::Vector3f& rotationVector);
|
|
|
|
/**
|
|
* Converts a quaternion to an equivalent rotation vector.
|
|
* The rotation vector is given as a 3-vector whose direction represents the rotation axis and its
|
|
* magnitude the rotation angle (in radians) around that axis.
|
|
*/
|
|
Eigen::Vector3f quaternionToRotationVector(const Eigen::Quaternionf& quaternion);
|
|
|
|
/**
|
|
* Returns a quaternion representing a rotation around the X-axis with the given amount (in
|
|
* radians).
|
|
*/
|
|
Eigen::Quaternionf rotateX(float angle);
|
|
|
|
/**
|
|
* Returns a quaternion representing a rotation around the Y-axis with the given amount (in
|
|
* radians).
|
|
*/
|
|
Eigen::Quaternionf rotateY(float angle);
|
|
|
|
/**
|
|
* Returns a quaternion representing a rotation around the Z-axis with the given amount (in
|
|
* radians).
|
|
*/
|
|
Eigen::Quaternionf rotateZ(float angle);
|
|
|
|
} // namespace media
|
|
} // namespace android
|