Changeset 3541 in orxonox.OLD for orxonox/trunk/src/lib/math

Timestamp:

Mar 14, 2005, 12:39:30 AM (20 years ago)

Author:

bensch

Message:

orxonox/trunk: debug information for class vector and quaternion

Location:

orxonox/trunk/src/lib/math

Files:

• vector.cc (modified) (4 diffs)
• vector.h (modified) (2 diffs)

orxonox/trunk/src/lib/math/vector.cc

@@ -21 +21 @@
 
 #include "vector.h"
-
+#include "debug.h"
 
 using namespace std;
@@ -201 +201 @@
 }
 
-
 /**
    \brief calculate the angle between two vectors in radiances
@@ -225 +224 @@
   f = acos( v1 * v2 / (v1.len() * v2.len()));
   return f * 180 / PI;
+}
+
+
+/**
+   \brief Outputs the values of the Vector
+*/
+void Vector::debug(void)
+{
+  PRINT(0)("Vector Debug information\n");
+  PRINT(0)("x: %f; y: %f; z: %f", x, y, z);
+  PRINT(3)(" lenght: %f", len());
+  PRINT(0)("\n");
 }
 
@@ -581 +592 @@
 
 /**
+   \brief outputs some nice formated debug information about this quaternion
+*/
+void Quaternion::debug(void)
+{
+  PRINT(0)("Quaternion Debug Information\n");
+  PRINT(0)("real a=%f; imag: x=%f y=%f z=%f\n", w, v.x, v.y, v.z);
+}
+
+/**
    \brief create a rotation from a vector
    \param v: a vector

orxonox/trunk/src/lib/math/vector.h

@@ -41 +41 @@
   Vector* getNormalized();
   Vector abs();
+
+  void debug();
 };
 
@@ -53 +55 @@
 {
  public:
-        Vector v;       //!< Imaginary Vector
-        float w;        //!< Real part of the number
-
-        Quaternion ();
-        Quaternion (float m[4][4]);
-        Quaternion (float angle, const Vector& axis);
-        Quaternion (const Vector& dir, const Vector& up);
-        Quaternion (float roll, float pitch, float yaw);
-        
-        Quaternion operator/ (const float& f) const;
-        Quaternion operator* (const float& f) const;
-        Quaternion operator* (const Quaternion& q) const;
-        Quaternion operator+ (const Quaternion& q) const;
-        Quaternion operator- (const Quaternion& q) const;
-        Quaternion conjugate () const;
-        Quaternion inverse () const;
-        Vector apply (Vector& f) const;
-        float norm () const;
-        void matrix (float m[4][4]) const;
-        void quatSlerp(const Quaternion* from, const Quaternion* to, const float t, Quaternion* res);
-
+  Vector v;     //!< Imaginary Vector
+  float w;        //!< Real part of the number
+  
+  Quaternion ();
+  Quaternion (float m[4][4]);
+  Quaternion (float angle, const Vector& axis);
+  Quaternion (const Vector& dir, const Vector& up);
+  Quaternion (float roll, float pitch, float yaw);
+  
+  Quaternion operator/ (const float& f) const;
+  Quaternion operator* (const float& f) const;
+  Quaternion operator* (const Quaternion& q) const;
+  Quaternion operator+ (const Quaternion& q) const;
+  Quaternion operator- (const Quaternion& q) const;
+  Quaternion conjugate () const;
+  Quaternion inverse () const;
+  Vector apply (Vector& f) const;
+  float norm () const;
+  void matrix (float m[4][4]) const;
+  void quatSlerp(const Quaternion* from, const Quaternion* to, const float t, Quaternion* res);
+  
+  void debug();
  private:
-        float DELTA;      //!< resolution of calculation
+  float DELTA;      //!< resolution of calculation
 
 };