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75 lines
2.4 KiB
75 lines
2.4 KiB
12 years ago
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Vector.h
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*
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* math vector
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*/
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#pragma once
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#include "Vector.hpp"
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12 years ago
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namespace math
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{
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12 years ago
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class Quaternion;
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class Dcm;
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class __EXPORT EulerAngles : public Vector
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{
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public:
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EulerAngles();
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EulerAngles(float phi, float theta, float psi);
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EulerAngles(const Quaternion &q);
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EulerAngles(const Dcm &dcm);
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virtual ~EulerAngles();
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12 years ago
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// alias
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void setPhi(float phi) { (*this)(0) = phi; }
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void setTheta(float theta) { (*this)(1) = theta; }
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void setPsi(float psi) { (*this)(2) = psi; }
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// const accessors
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const float &getPhi() const { return (*this)(0); }
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const float &getTheta() const { return (*this)(1); }
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const float &getPsi() const { return (*this)(2); }
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12 years ago
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};
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int __EXPORT eulerAnglesTest();
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} // math
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