[Octave-cvsupdate] SF.net SVN: octave:[8955] trunk/octave-forge/extra/quaternion_oo

[<par...@us...>]

Revision: 8955
          http://octave.svn.sourceforge.net/octave/?rev=8955&view=rev
Author:   paramaniac
Date:     2011-11-03 17:21:17 +0000 (Thu, 03 Nov 2011)
Log Message:
-----------
quaternion-oo: nicer display routine, add devel folder

Modified Paths:
--------------
    trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/display.m

Added Paths:
-----------
    trunk/octave-forge/extra/quaternion_oo/devel/
    trunk/octave-forge/extra/quaternion_oo/devel/demoml.m
    trunk/octave-forge/extra/quaternion_oo/devel/q2rot.m
    trunk/octave-forge/extra/quaternion_oo/devel/rot2q.m

Added: trunk/octave-forge/extra/quaternion_oo/devel/demoml.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/devel/demoml.m	                        (rev 0)
+++ trunk/octave-forge/extra/quaternion_oo/devel/demoml.m	2011-11-03 17:21:17 UTC (rev 8955)
@@ -0,0 +1,10 @@
+q = rot2q ([0, 0, 1], pi/4)
+
+% [vv, theta] = q2rot (q)
+
+x = quaternion (0, 1, 1, 0)  % nicht normiert
+              % s  x  y  z
+
+rx = q * x * conj (q)  % q x q^-1
+
+% [vv, theta] = q2rot (rx)

Added: trunk/octave-forge/extra/quaternion_oo/devel/q2rot.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/devel/q2rot.m	                        (rev 0)
+++ trunk/octave-forge/extra/quaternion_oo/devel/q2rot.m	2011-11-03 17:21:17 UTC (rev 8955)
@@ -0,0 +1,31 @@
+function [vv, theta] = q2rot (q)
+
+  if (nargin ~= 1 || nargout ~= 2)
+    print_usage ();
+  end
+
+  if (abs (norm (q) - 1) > 1e-12)
+    warning ('quaternion: ||q||=%e, setting=1 for vv, theta', norm (q));
+    q = q / norm (q);
+  end
+
+  s = q.s;
+  x = q.x;
+  y = q.y;
+  z = q.z;
+
+  theta = acos (s) * 2;
+
+  if (abs (theta) > pi)
+    theta = theta - sign (theta) * pi;
+  end
+
+  sin_th_2 = norm ([x, y, z]);
+
+  if (sin_th_2 ~= 0)
+    vv = [x, y, z] / sin_th_2;
+  else
+    vv = [x, y, z];
+  end
+
+end
\ No newline at end of file

Added: trunk/octave-forge/extra/quaternion_oo/devel/rot2q.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/devel/rot2q.m	                        (rev 0)
+++ trunk/octave-forge/extra/quaternion_oo/devel/rot2q.m	2011-11-03 17:21:17 UTC (rev 8955)
@@ -0,0 +1,33 @@
+function q = rot2q (vv, theta)
+
+  if (nargin ~= 2 || nargout ~= 1)
+    print_usage ();
+  end
+
+  if (~ isvector (vv) || length (vv) ~= 3)
+    error ('vv must be a length three vector');
+  end
+
+  if (~ isscalar (theta))
+    error ('theta must be a scalar');
+  end
+
+  if (norm (vv) == 0)
+    error ('quaternion: vv is zero');
+  end
+
+  if (abs (norm (vv) - 1) > 1e-12)
+    warning ('quaternion: ||vv|| != 1, normalizing')
+    vv = vv / norm (vv);
+  end
+
+  if (abs (theta) > 2*pi)
+    warning ('quaternion: |theta| > 2 pi, normalizing')
+    theta = rem (theta, 2*pi);
+  end
+
+  vv = vv * sin (theta / 2);
+  d = cos (theta / 2);
+  q = quaternion (d, vv(1), vv(2), vv(3));
+
+end
\ No newline at end of file

Modified: trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/display.m
===================================================================
--- trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/display.m	2011-11-03 14:11:57 UTC (rev 8954)
+++ trunk/octave-forge/extra/quaternion_oo/inst/@quaternion/display.m	2011-11-03 17:21:17 UTC (rev 8955)
@@ -1,4 +1,4 @@
-## Copyright (C) 2010   Lukas F. Reichlin
+## Copyright (C) 2010, 2011   Lukas F. Reichlin
 ##
 ## This program is free software: you can redistribute it and/or modify
 ## it under the terms of the GNU General Public License as published by
@@ -14,28 +14,52 @@
 ## along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 ## -*- texinfo -*-
-## Display routine for quaternions. Used by Octave internally.
+## Display routine for quaternions.  Used by Octave internally.
 
 ## Author: Lukas Reichlin <luk...@gm...>
 ## Created: May 2010
-## Version: 0.1
+## Version: 0.2
 
 
 function display (q)
 
-  inputname_str = inputname(1);
+  name = inputname(1);
+  s = size (q);
+  
+  if (ndims (s) == 2 && all (s == 1))  # scalar quaternion
+    w = num2str (q.w, 4);
+    x = __num2str__ (q.x);
+    y = __num2str__ (q.y);
+    z = __num2str__ (q.z);
+    disp ("");
+    disp ([name, " = ", w, x, "i" y, "j", z, "k"]);
+    disp ("");
+  else                                 # non-scalar quaternion
+    disp ([name, ".w ="]);
+    disp (q.w);
+    disp ("");
+    disp ([name, ".x ="]);
+    disp (q.x);
+    disp ("");
+    disp ([name, ".y ="]);
+    disp (q.y);
+    disp ("");
+    disp ([name, ".z ="]);
+    disp (q.z);
+    disp ("");
+  endif
 
-  disp ([inputname_str, ".w ="]);
-  disp (q.w);
-  disp ("");
-  disp ([inputname_str, ".x ="]);
-  disp (q.x);
-  disp ("");
-  disp ([inputname_str, ".y ="]);
-  disp (q.y);
-  disp ("");
-  disp ([inputname_str, ".z ="]);
-  disp (q.z);
-  disp ("");
+endfunction
 
-endfunction
\ No newline at end of file
+
+function str = __num2str__ (num)
+
+  if (sign (num) == -1)
+    str = " - ";
+  else
+    str = " + ";
+  endif
+  
+  str = [str, num2str(abs (num), 4), " "];
+
+endfunction

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