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add DCM to Euler Angles conversion

This commit is contained in:
Massimiliano Corsini 2007-07-03 16:06:48 +00:00
parent c1e902f273
commit c99138926d
1 changed files with 14 additions and 0 deletions
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14
vcg/math/matrix44.h
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@ -24,6 +24,9 @@
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$Log: not supported by cvs2svn $
Revision 1.32 2007/03/08 14:39:27 corsini
final fix to euler angles transformation
Revision 1.31 2007/02/06 09:57:40 corsini
fix euler angles computation
@ -232,6 +235,9 @@ public:
template <class Matrix44Type>
void ToMatrix(Matrix44Type & m) const {for(int i = 0; i < 16; i++) m.V()[i]=V()[i];}
void ToEulerAngles(T &alpha, T &beta, T &gamma);
template <class Matrix44Type>
void FromMatrix(const Matrix44Type & m){for(int i = 0; i < 16; i++) V()[i]=m.V()[i];}
void FromEulerAngles(T alpha, T beta, T gamma);
@ -442,6 +448,14 @@ template <class T> void Matrix44<T>::operator*=( const T k ) {
_a[i] *= k;
}
template <class T>
void Matrix44<T>::ToEulerAngles(T &alpha, T &beta, T &gamma)
{
alpha = atan2(ElementAt(1,2), ElementAt(2,2));
beta = asin(-ElementAt(0,2));
gamma = atan2(ElementAt(0,1), ElementAt(1,1));
}
template <class T>
void Matrix44<T>::FromEulerAngles(T alpha, T beta, T gamma)
{