Diff: Quaternions.cpp

Revision:

5:155d224d855c

Parent:

4:e36c7042d3bb

Child:

6:0ebecfecadc9

--- a/Quaternions.cpp	Sat Feb 23 01:20:08 2019 +0000
+++ b/Quaternions.cpp	Sun Feb 24 16:49:06 2019 +0000
@@ -410,4 +410,31 @@
    
     return EulerAngles;
 }
+//----------------------------------------------------------------------------------------------------------------//
+
+
+
+//----------------------------------------------------------------------------------------------------------------//
+Quaternion euler2Quaternion(Quaternion Q)
+{
+    
+    
+
+    // Abbreviations for the various angular functions
+    double cy = cosf(Q.z * 0.5f);
+    double sy = sinf(Q.z * 0.5f);
+    double cp = cosf(Q.y * 0.5f);
+    double sp = sinf(Q.y * 0.5f);
+    double cr = cosf(Q.x * 0.5f);
+    double sr = sinf(Q.x * 0.5f);
+
+    Quaternion q;
+    q.w = cy * cp * cr + sy * sp * sr;
+    q.x = cy * cp * sr - sy * sp * cr;
+    q.y = sy * cp * sr + cy * sp * cr;
+    q.z = sy * cp * cr - cy * sp * sr;
+    
+    return q;
+
+}
 //----------------------------------------------------------------------------------------------------------------//
\ No newline at end of file