Line data    Source code

       1             : /*
       2             :  * This file is free software: you can redistribute it and/or modify it
       3             :  * under the terms of the GNU General Public License as published by the
       4             :  * Free Software Foundation, either version 3 of the License, or
       5             :  * (at your option) any later version.
       6             :  *
       7             :  * This file is distributed in the hope that it will be useful, but
       8             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      10             :  * See the GNU General Public License for more details.
      11             :  *
      12             :  * You should have received a copy of the GNU General Public License along
      13             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_CustomRotations_config.h"
      18             : 
      19             : #if AP_CUSTOMROTATIONS_ENABLED
      20             : 
      21             : #include <AP_Param/AP_Param.h>
      22             : #include <AP_Math/AP_Math.h>
      23             : 
      24             : #define NUM_CUST_ROT ROTATION_CUSTOM_END - ROTATION_CUSTOM_1
      25             : 
      26             : struct AP_CustomRotation_params {
      27             : public:
      28             :     AP_CustomRotation_params();
      29             : 
      30             :     static const struct AP_Param::GroupInfo var_info[];
      31             : 
      32             :     AP_Float roll;
      33             :     AP_Float pitch;
      34             :     AP_Float yaw;
      35             : };
      36             : 
      37             : class AP_CustomRotation {
      38             : public:
      39             :     AP_CustomRotation(AP_CustomRotation_params &_params);
      40             : 
      41             :     void init();
      42             : 
      43             :     Quaternion q;
      44             :     Matrix3f m;
      45             : 
      46             :     AP_CustomRotation_params &params;
      47             : };
      48             : 
      49             : class AP_CustomRotations {
      50             : public:
      51             :     AP_CustomRotations();
      52             : 
      53             :     CLASS_NO_COPY(AP_CustomRotations);
      54             : 
      55         257 :     static AP_CustomRotations *get_singleton(void) { return singleton; }
      56             : 
      57             :     void init();
      58             : 
      59             :     void from_rotation(enum Rotation r, QuaternionD &q);
      60             :     void from_rotation(enum Rotation r, Quaternion &q);
      61             : 
      62             :     void rotate(enum Rotation r, Vector3d& v);
      63             :     void rotate(enum Rotation r, Vector3f& v);
      64             : 
      65             :     void set(Rotation r, float roll, float pitch, float yaw);
      66             : 
      67             :     static const struct AP_Param::GroupInfo var_info[];
      68             : 
      69             : private:
      70             : 
      71             :     AP_Int8 enable;
      72             : 
      73             :     AP_CustomRotation* get_rotation(Rotation r);
      74             : 
      75             :     AP_CustomRotation* rotations[NUM_CUST_ROT];
      76             : 
      77             :     AP_CustomRotation_params params[NUM_CUST_ROT];
      78             : 
      79             :     static AP_CustomRotations *singleton;
      80             : };
      81             : 
      82             : namespace AP {
      83             :     AP_CustomRotations &custom_rotations();
      84             : };
      85             : 
      86             : 
      87             : #endif  // AP_CUSTOMROTATIONS_ENABLED