px4_autopilot/apps/mathlib/math/Dcm.hpp

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/**
 * @file Dcm.hpp
 *
 * math direction cosine matrix
 */

//#pragma once

#include "Vector.hpp"
#include "Matrix.hpp"

namespace math
{

class Quaternion;
class EulerAngles;

/**
 * This is a Tait Bryan, Body 3-2-1 sequence.
 * (yaw)-(pitch)-(roll)
 * The Dcm transforms a vector in the body frame
 * to the navigation frame, typically represented
 * as C_nb. C_bn can be obtained through use
 * of the transpose() method.
 */
class __EXPORT Dcm : public Matrix
{
public:
	/**
	 * default ctor
	 */
	Dcm();

	/**
	 * scalar ctor
	 */
	Dcm(float c00, float c01, float c02,
			float c10, float c11, float c12,
			float c20, float c21, float c22);

	/**
	 * data ctor
	 */
	Dcm(const float *data);

	/**
	 * quaternion ctor
	 */
	Dcm(const Quaternion &q);

	/**
	 * euler angles ctor
	 */
	Dcm(const EulerAngles &euler);

	/**
	 * copy ctor (deep)
	 */
	Dcm(const Dcm &right);

	/**
	 * dtor
	 */
	virtual ~Dcm();
};

int __EXPORT dcmTest();

} // math