convert.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <rve_render_server/convert.h>

namespace rve_render_server
{

static Ogre::Matrix3 fromEulersYXZ(float y, float x, float z)
{
  Ogre::Matrix3 m;
  m.FromEulerAnglesYXZ(Ogre::Degree(y), Ogre::Degree(x), Ogre::Degree(z));
  return m;
}

static Ogre::Quaternion matToQuat(const Ogre::Matrix3& mat)
{
  Ogre::Quaternion q;
  q.FromRotationMatrix(mat);
  return q;
}

static Ogre::Matrix3 inverseTranspose(const Ogre::Matrix3& mat)
{
  Ogre::Matrix3 out(mat);
  out.Inverse();
  out.Transpose();
  return out;
}

Ogre::Matrix3 g_ogre_to_robot_matrix(fromEulersYXZ(-90, 0, -90));
Ogre::Matrix3 g_robot_to_ogre_matrix(g_ogre_to_robot_matrix.Inverse());
Ogre::Matrix3 g_robot_to_ogre_normal_matrix(inverseTranspose(g_robot_to_ogre_matrix));

Ogre::Quaternion g_ogre_to_robot_quat(matToQuat(g_ogre_to_robot_matrix));
Ogre::Quaternion g_robot_to_ogre_quat(matToQuat(g_robot_to_ogre_matrix));

} // namespace rve_render_server