You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
64 lines
1.5 KiB
64 lines
1.5 KiB
12 years ago
|
clc
|
||
|
|
clear
|
||
|
|
function out = float_truncate(in, digits)
|
||
|
|
out = round(in*10^digits)
|
||
|
|
out = out/10^digits
|
||
|
|
endfunction
|
||
|
|
|
||
|
|
phi = 0.1
|
||
|
|
theta = 0.2
|
||
|
|
psi = 0.3
|
||
|
|
|
||
|
|
cosPhi = cos(phi)
|
||
|
|
cosPhi_2 = cos(phi/2)
|
||
|
|
sinPhi = sin(phi)
|
||
|
|
sinPhi_2 = sin(phi/2)
|
||
|
|
|
||
|
|
cosTheta = cos(theta)
|
||
|
|
cosTheta_2 = cos(theta/2)
|
||
|
|
sinTheta = sin(theta)
|
||
|
|
sinTheta_2 = sin(theta/2)
|
||
|
|
|
||
|
|
cosPsi = cos(psi)
|
||
|
|
cosPsi_2 = cos(psi/2)
|
||
|
|
sinPsi = sin(psi)
|
||
|
|
sinPsi_2 = sin(psi/2)
|
||
|
|
|
||
|
|
C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
|
||
|
|
cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
|
||
|
|
-sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
|
||
|
|
|
||
|
|
disp(C_nb)
|
||
|
|
//C_nb = float_truncate(C_nb,3)
|
||
|
|
//disp(C_nb)
|
||
|
|
|
||
|
|
theta = asin(-C_nb(3,1))
|
||
|
|
phi = atan(C_nb(3,2), C_nb(3,3))
|
||
|
|
psi = atan(C_nb(2,1), C_nb(1,1))
|
||
|
|
printf('phi %f\n', phi)
|
||
|
|
printf('theta %f\n', theta)
|
||
|
|
printf('psi %f\n', psi)
|
||
|
|
|
||
|
|
q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
|
||
|
|
sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
|
||
|
|
cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
|
||
|
|
cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
|
||
|
|
|
||
|
|
//q = float_truncate(q,3)
|
||
|
|
|
||
|
|
a = q(1)
|
||
|
|
b = q(2)
|
||
|
|
c = q(3)
|
||
|
|
d = q(4)
|
||
|
|
printf('q: %f %f %f %f\n', a, b, c, d)
|
||
|
|
a2 = a*a
|
||
|
|
b2 = b*b
|
||
|
|
c2 = c*c
|
||
|
|
d2 = d*d
|
||
|
|
|
||
|
|
C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
|
||
|
|
2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
|
||
|
|
2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
|
||
|
|
|
||
|
|
disp(C2_nb)
|