67 lines
2.3 KiB
C#
67 lines
2.3 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace RealSence_PathMove
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{
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class Quaternion2Euler
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{
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public string[] calculateEuler(string[] Q)
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{
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string[] Euler = new string[3];
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double W, X, Y, Z;
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double Yaw, Pitch, Roll;
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W = Convert.ToDouble(Q[0]);
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X = Convert.ToDouble(Q[1]);
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Y = Convert.ToDouble(Q[2]);
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Z = Convert.ToDouble(Q[3]);
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Yaw = Math.Atan2(2 * (W * X + Y * Z), 1 - 2 * (X * X + Y * Y));
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Pitch = Math.Asin(2 * (W * Y - Z * X));
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Roll = Math.Atan2(2 * (W * Z + X * Y), 1 - 2 * (Y * Y + Z * Z));
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Yaw = Yaw * 180 / Math.PI;
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Pitch = Pitch * 180 / Math.PI;
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Roll = Roll * 180 / Math.PI;
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Euler[0] = Yaw.ToString();
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Euler[1] = Pitch.ToString();
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Euler[2] = Roll.ToString();
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return Euler;
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}
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public double[] calculateEulerD(double[] Q)
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{
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double[] Euler = new double[3];
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double W, X, Y, Z;
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double Yaw, Pitch, Roll;
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W = Convert.ToDouble(Q[0]);
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X = Convert.ToDouble(Q[1]);
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Y = Convert.ToDouble(Q[2]);
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Z = Convert.ToDouble(Q[3]);
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Yaw = Math.Atan2(2 * (W * X + Y * Z), 1 - 2 * (X * X + Y * Y));
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Pitch = Math.Asin(2 * (W * Y - Z * X));
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Roll = Math.Atan2(2 * (W * Z + X * Y), 1 - 2 * (Y * Y + Z * Z));
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Euler[0] = Yaw;
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Euler[1] = Pitch;
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Euler[2] = Roll;
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return Euler;
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}
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public double[] calculateQ(double roll, double pitch, double yaw)
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{
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double cr2 = Math.Cos(roll * 0.5f);
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double cp2 = Math.Cos(pitch * 0.5f);
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double cy2 = Math.Cos(yaw * 0.5f);
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double sr2 = Math.Sin(roll * 0.5f);
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double sp2 = Math.Sin(pitch * 0.5f);
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double sy2 = Math.Sin(yaw * 0.5f);
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double q1 = cr2 * cp2 * cy2 + sr2 * sp2 * sy2;
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double q2 = sr2 * cp2 * cy2 - cr2 * sp2 * sy2;
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double q3 = cr2 * sp2 * cy2 + sr2 * cp2 * sy2;
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double q4 = cr2 * cp2 * sy2 - sr2 * sp2 * cy2;
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double[] Q = { q1, q2, q3, q4 };
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return Q;
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}
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}
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}
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