mirror of https://github.com/thesofproject/sof.git
59 lines
1.4 KiB
Mathematica
59 lines
1.4 KiB
Mathematica
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% bf = bf_array_rot(bf)
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%
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% Inputs
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% bf.array_angle ... three element vector for x, y, z rotation [degrees]
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% bf.mic_x ......... x coordinates of microphones in [m]
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% bf.mic_y ......... y coordinates of microphones in [m]
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% bf.mic_z ......... z coordinates of microphones in [m]
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%
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% Outputs
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% bf.mic_x
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% bf.mic_y
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% bf.mic_z
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% SPDX-License-Identifier: BSD-3-Clause
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%
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% Copyright (c) 2020, Intel Corporation. All rights reserved.
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%
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% Author: Seppo Ingalsuo <seppo.ingalsuo@linux.intel.com>
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function bf = bf_array_rot(bf)
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% Equations reference
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% https://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations
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% Rotate around X-axis
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%
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% | x' | | 1 0 0 | | x |
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% | y' | = | 0 cosa -sina | | y |
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% | z' | | 0 sina cosa | | z |
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a = bf.array_angle(1) * pi/180;
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y = bf.mic_y;
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z = bf.mic_z;
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bf.mic_y = cos(a) * y - sin(a) * z;
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bf.mic_z = sin(a) * y + cos(a) * z;
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% Rotate around Y-axis
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%
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% | x' | | cosa 0 sina | | x |
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% | y' | = | 0 1 0 | | y |
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% | z' | | -sina 0 cosa | | z |
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a = bf.array_angle(2) * pi/180;
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x = bf.mic_x;
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z = bf.mic_z;
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bf.mic_x = cos(a) * x + sin(a) * z;
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bf.mic_z = -sin(a) * x + cos(a) * z;
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% Rotate around Z-axis
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%
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% | x' | | cosa -sina 0 | | x |
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% | y' | = | sina cosa 0 | | y |
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% | z' | | 0 0 1 | | z |
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a = bf.array_angle(3) * pi/180;
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x = bf.mic_x;
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y = bf.mic_y;
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bf.mic_x = cos(a) * x - sin(a) * y;
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bf.mic_y = sin(a) * x + cos(a) * y;
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end
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