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20 lines
1.1 KiB
20 lines
1.1 KiB
#include <matrix/math.hpp> |
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// converts Tait-Bryan 312 sequence of rotations from frame 1 to frame 2 |
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// to the corresponding rotation matrix that rotates from frame 2 to frame 1 |
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// rot312(0) - First rotation is a RH rotation about the Z axis (rad) |
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// rot312(1) - Second rotation is a RH rotation about the X axis (rad) |
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// rot312(2) - Third rotation is a RH rotation about the Y axis (rad) |
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// See http://www.atacolorado.com/eulersequences.doc |
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matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312); |
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// Use Kahan summation algorithm to get the sum of "sum_previous" and "input". |
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// This function relies on the caller to be responsible for keeping a copy of |
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// "accumulator" and passing this value at the next iteration. |
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// Ref: https://en.wikipedia.org/wiki/Kahan_summation_algorithm |
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float kahanSummation(float sum_previous, float input, float &accumulator); |
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// calculate the inverse rotation matrix from a quaternion rotation |
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// this produces the inverse rotation to that produced by the math library quaternion to Dcmf operator |
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matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat);
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