package test;
import test.EulerAngles;
import test.Quaternion;
import lombok.extern.slf4j.Slf4j;
import static java.lang.Math.abs;
/*************************************
*Class Name: EulerAngle2QuatUtil
*Description: <四元数与欧拉角互转>
*@author: seminar
*@create: 2021/5/24
*@since 1.0.0
*************************************/
@Slf4j
public class EulerAngle2QuatUtil {
/**
* 归一化
*
* @param x
* @param y
* @param z
* @param w
* @return
*/
public Quaternion normalizeQuaternion(float w, float x, float y, float z) {
double lengthD = 1.0f / (w * w + x * x + y * y + z * z);
w *= lengthD;
x *= lengthD;
y *= lengthD;
z *= lengthD;
return new Quaternion(w, x, y, z);
}
/**
* Slerp球面线性插值(Spherical Linear Interpolation)
*
* @param a 原始数据a
* @param b 原始数据b
* @param t 要插值的比例(中间插一个值1/2)
* @return
*/
public Quaternion makeInterpolated(Quaternion a, Quaternion b, double t) {
Quaternion out = new Quaternion();
double cosHalfTheta = a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
if (cosHalfTheta < 0.0F) {
b = new Quaternion(b);
cosHalfTheta = -cosHalfTheta;
b.x = -b.x;
b.y = -b.y;
b.z = -b.z;
b.w = -b.w;
}
double halfTheta = (double) Math.acos((double) cosHalfTheta);
double sinHalfTheta = (double) Math.sqrt((double) (1.0F - cosHalfTheta * cosHalfTheta));
double ratioA;
double ratioB;
if ((double) abs(sinHalfTheta) > 0.001D) {
double oneOverSinHalfTheta = 1.0F / sinHalfTheta;
ratioA = (double) Math.sin((double) ((1.0F - t) * halfTheta)) * oneOverSinHalfTheta;
ratioB = (double) Math.sin((double) (t * halfTheta)) * oneOverSinHalfTheta;
} else {
ratioA = 1.0F - t;
ratioB = t;
}
out.x = (float) (ratioA * a.x + ratioB * b.x);
out.y = (float) (ratioA * a.y + ratioB * b.y);
out.z = (float) (ratioA * a.z + ratioB * b.z);
out.w = (float) (ratioA * a.w + ratioB * b.w);
out = normalizeQuaternion(out.w, out.x, out.y, out.z);
return out;
}
/**
* 欧拉角(弧度)转四元数
*
* @param pitch
* @param yaw
* @param roll
* @return
*/
public Quaternion toQuaternion(double pitch, double yaw, double roll) {
EulerAngles eu = new EulerAngles((float) Math.toRadians(pitch), (float) Math.toRadians(yaw), (float) Math.toRadians(roll)); // 角度转弧度
return eu.toQuaternion();
}
/**
* 四元数转欧拉角(弧度)
*
* @param quaternion
* @return
*/
public EulerAngles toEulerAngles(Quaternion quaternion) {
return quaternion.toEulerAngles();
}
/**
* 姿态角——即欧拉角转四元数,对俩个四元数进行球面插值,四元数转回欧拉角并返回
*
* @param pitch 位置一俯仰角 -180~180
* @param yaw 位置一航向角 0~360
* @param roll 位置一翻滚角 -180~180
* @param pitch1 位置二俯仰角 -180~180
* @param yaw1 位置二俯仰角 0~360°
* @param roll1 位置二翻滚角 -180~180
* @param t 位置一时间
* @param t1 位置二时间
* @param t_insert 要计算姿态角的位置对应时间
* @return
*/
public EulerAngles slerpInsert(float pitch, float yaw, float roll, float pitch1, float yaw1, float roll1, long t, long t1, long t_insert) {
// 位置1 欧拉角转四元数
// 位置2 欧拉角转四元数
Quaternion p = toQuaternion(pitch, yaw, roll);
Quaternion q = toQuaternion(pitch1, yaw1, roll1);
// 计算插入的scale
float scale = (float) ((t_insert - t) / ((t1 - t) * 1.0));
// Slerp球面线性插值
Quaternion r = makeInterpolated(q, p, scale);
// 四元数转欧拉角
EulerAngles eulerAngles = r.toEulerAngles();
return eulerAngles;
}
public static void main(String[] args) {
// 示例,中间1615609866585L的插值不太对
// Roll Pitch Heading
// 1615609866544L -0.9 -0.405 358.809
// 1615609866585L -0.942 -0.362 314.489
// 1615609866625L -0.956 -0.331 0.178
// 正确结果
// Roll Pitch Heading
// 1615609866544L -0.9, -0.405, 358.809
// 1615609866585L -0.929, -0.368, 359.502
// 1615609866625L -0.956, -0.331, 0.178
// 调用EulerAngle2QuatUtil实现姿态角插值的获取
float roll = -0.9f, pitch = -0.405f, yaw = 358.809f;
EulerAngle2QuatUtil eq = new EulerAngle2QuatUtil();
Quaternion p = eq.toQuaternion(pitch, yaw, roll);
log.info("p: {} {} {} {}", p.w, p.x, p.y, p.z);
float roll1 = -0.956f, pitch1 = -0.331f, yaw1 = 0.178f;
Quaternion q = eq.toQuaternion(pitch1, yaw1, roll1);
log.info("q: {} {} {} {}", q.w, q.x, q.y, q.z);
long t = 1615609866544L;
long t1 = 1615609866625L;
long t_insert = 1615609866585L;
float scale = (float) ((t_insert - t) / ((t1 - t) * 1.0));
// Slerp球面线性插值
Quaternion r = eq.makeInterpolated(q, p, scale);
EulerAngles eulerAngles = r.toEulerAngles();
float roll2 = (float) Math.toDegrees(eulerAngles.roll); // 弧度转回角度
float pitch2 = (float) Math.toDegrees(eulerAngles.pitch); // 弧度转回角度
float heading2 = (float) (Math.toDegrees(eulerAngles.yaw) > 0 ? Math.toDegrees(eulerAngles.yaw) : Math.toDegrees(eulerAngles.yaw) + 360); // 弧度转回角度(航向角0~360°)
log.info("{} {} {}", Double.parseDouble(String.format("%.3f", roll2)), Double.parseDouble(String.format("%.3f", pitch2)), Double.parseDouble(String.format("%.3f", heading2)));
testSlerpInsert(pitch, yaw, roll, pitch1, yaw1, roll1, t, t1, t_insert);
// 0.000 -8.523 0.000
// 0.000 -0.432 93.112
testSlerpInsert(-8.523f, 0.00f, 0.00f, -0.432f, 93.112f, 0.00f, t, t1, t_insert);
// 0.000 1.054 66.847
// 1.237 -1.956 62.336
testSlerpInsert(1.054f, 66.847f, 0.00f, -1.956f, 62.336f, 1.237f, t, t1, t_insert);
// 0.411 5.393 338.058
// 0.402 5.395 338.063
testSlerpInsert(5.393f, 338.058f, 0.411f, 5.395f, 338.063f, 0.402f, t, t1, t_insert);
}
private static void testSlerpInsert(float pitch, float yaw, float roll, float pitch1, float yaw1, float roll1, long t, long t1, long t_insert) {
log.info("==================testSlerpInsert start===============");
EulerAngle2QuatUtil eq = new EulerAngle2QuatUtil();
EulerAngles eulerAngles = eq.slerpInsert(pitch, yaw, roll, pitch1, yaw1, roll1, t, t1, t_insert);
float roll2 = (float) Math.toDegrees(eulerAngles.roll); // 弧度转回角度
float pitch2 = (float) Math.toDegrees(eulerAngles.pitch); // 弧度转回角度
float heading2 = (float) (Math.toDegrees(eulerAngles.yaw) > 0 ? Math.toDegrees(eulerAngles.yaw) : Math.toDegrees(eulerAngles.yaw) + 360); // 弧度转回角度(航向角0~360°)
log.info("slerpInsert {} {} {}", Double.parseDouble(String.format("%.3f", roll2)), Double.parseDouble(String.format("%.3f", pitch2)), Double.parseDouble(String.format("%.3f", heading2)));
log.info("==================testSlerpInsert end=================");
}
private static Quaternion getQuaternion(float roll, float pitch, float yaw) {
EulerAngle2QuatUtil eq = new EulerAngle2QuatUtil();
EulerAngles eu = new EulerAngles((float) Math.toRadians(pitch), (float) Math.toRadians(yaw), (float) Math.toRadians(roll));
Quaternion quaternion = eu.toQuaternion();
EulerAngles eulerAngles = quaternion.toEulerAngles();
float roll2 = (float) Math.toDegrees(eulerAngles.roll); // 弧度转回角度
float pitch2 = (float) Math.toDegrees(eulerAngles.pitch); // 弧度转回角度
float heading2 = (float) (Math.toDegrees(eulerAngles.yaw) > 0 ? Math.toDegrees(eulerAngles.yaw) : Math.toDegrees(eulerAngles.yaw) + 360); // 弧度转回角度(航向角0~360°)
log.info("toDegree: {} {} {}", Double.parseDouble(String.format("%.3f", roll2)), Double.parseDouble(String.format("%.3f", pitch2)), Double.parseDouble(String.format("%.3f", heading2)));
return quaternion;
}
}
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