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103 lines
2.6 KiB
103 lines
2.6 KiB
/**************************************************************************** |
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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 Dcm.hpp |
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* |
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* math direction cosine matrix |
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*/ |
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//#pragma once |
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#include "Vector.hpp" |
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#include "Matrix.hpp" |
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namespace math |
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{ |
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class Quaternion; |
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class EulerAngles; |
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/** |
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* This is a Tait Bryan, Body 3-2-1 sequence. |
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* (yaw)-(pitch)-(roll) |
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* The Dcm transforms a vector in the body frame |
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* to the navigation frame, typically represented |
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* as C_nb. C_bn can be obtained through use |
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* of the transpose() method. |
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*/ |
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class __EXPORT Dcm : public Matrix |
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{ |
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public: |
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/** |
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* default ctor |
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*/ |
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Dcm(); |
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/** |
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* scalar ctor |
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*/ |
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Dcm(float c00, float c01, float c02, |
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float c10, float c11, float c12, |
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float c20, float c21, float c22); |
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/** |
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* data ctor |
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*/ |
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Dcm(const float *data); |
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/** |
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* quaternion ctor |
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*/ |
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Dcm(const Quaternion &q); |
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/** |
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* euler angles ctor |
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*/ |
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Dcm(const EulerAngles &euler); |
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/** |
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* copy ctor (deep) |
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*/ |
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Dcm(const Dcm &right); |
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/** |
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* dtor |
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*/ |
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virtual ~Dcm(); |
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}; |
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int __EXPORT dcmTest(); |
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} // math |
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