/usr/include/SurgSim/Graphics/OsgQuaternionConversions.h is in libopensurgsim-dev 0.7.0-5.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// 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.
/// \file
/// Conversions to and from OSG quaternion types
///
/// Note that the Eigen quaternion constructor takes the W component first, while OSG stores it last.
///
/// Also note that OSG only has one Quat type, which uses double for the value type. Conversions are provided to and
/// from this type for both SurgSim::Math::Quaternionf and SurgSim::Math::Quaterniond.
#ifndef SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H
#define SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H
#include "SurgSim/Math/Quaternion.h"
#include <osg/Quat>
namespace SurgSim
{
namespace Graphics
{
/// Convert quaternion of floats to OSG
inline osg::Quat toOsg(const SurgSim::Math::Quaternionf& quaternion)
{
return osg::Quat(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
}
/// Convert quaternion of doubles to OSG
inline osg::Quat toOsg(const SurgSim::Math::Quaterniond& quaternion)
{
return osg::Quat(quaternion.x(), quaternion.y(), quaternion.z(), quaternion.w());
}
/// Convert from OSG to either quaternion of floats or doubles
/// \tparam T Value type (float or double)
template <typename T> inline
Eigen::Quaternion<T> fromOsg(const osg::Quat& quaternion)
{
return Eigen::Quaternion<T>(quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z());
}
}; // namespace Graphics
}; // namespace SurgSim
#endif // SURGSIM_GRAPHICS_OSGQUATERNIONCONVERSIONS_H
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