ZRGameInternal.h File Reference

#include "Constants.h"
#include "ZeroRoboticsGameBaseImpl.hpp"
#include "comm.h"

Go to the source code of this file.

Classes
class	ZeroRoboticsGameImpl
	This class defines the hidden game implementation. More...
struct	ZeroRoboticsGameImpl::PlayerInfo
	(Required) Runs initialization fo the ZR game at the start of a test. More...
struct	ZeroRoboticsGameImpl::OtherInfo
struct	ZeroRoboticsGameImpl::Light
struct	ZeroRoboticsGameImpl::Picture
struct	ZeroRoboticsGameImpl::Camera
struct	ZeroRoboticsGameImpl::ChallengeInfo
Functions
ZeroRoboticsGameImpl *	getGameImpl ()
void	overrideTarget2D (float target[13])
void	swingTwistDecomposition (float q[4], float q_sw[4], float q_tw[4], float sw_vec[3])
void	quatToPositive (float q[4])

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Function Documentation

ZeroRoboticsGameImpl* getGameImpl

(

)

Definition at line 60 of file ZRGameInternal.cpp.

{
  return &ZeroRoboticsGameImpl::instance();
}

void overrideTarget2D

(

float

target[13]

)

void quatToPositive

(

float

q[4]

)

Definition at line 223 of file ZRGameInternal.cpp.

                                   {
    if (quat[3] < 0) {
      for (int i = 0; i < 4; i++) {
        quat[4] *= -1;
      }
    }
}

void swingTwistDecomposition	(	float	q[4],
		float	q_sw[4],
		float	q_tw[4],
		float	sw_vec[3]
	)

Definition at line 201 of file ZRGameInternal.cpp.

                                   {
  
  // p = dot(q[0:2], tw_axis) * tw_axis
  // q_tw = [p[0], p[1], p[2], q[3]]
  float c = mathVecInner(q, tw_axis, 3);
  for (int i = 0; i < 3; i++) {
    q_tw[i]= tw_axis[i] * c;    
  }
  q_tw[3] = q[3];
  mathVecNormalize(q_tw, 4);
  
  // invert twist quaternion
  float q_tw_inv[4];
  memcpy(q_tw_inv, q_tw, 4*sizeof(float));  
  for (int i = 0; i < 3; i++) {
    q_tw_inv[i] *= -1.0f;
  }
    
  quatMult(q_sw, q_tw_inv, q);
}