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126 lines
3.4 KiB
126 lines
3.4 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 Vector.cpp |
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* |
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* math vector |
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*/ |
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#include "math/test/test.hpp" |
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#include "EulerAngles.hpp" |
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#include "Quaternion.hpp" |
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#include "Dcm.hpp" |
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#include "Vector3.hpp" |
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namespace math |
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{ |
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EulerAngles::EulerAngles() : |
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Vector(3) |
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{ |
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setPhi(0.0f); |
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setTheta(0.0f); |
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setPsi(0.0f); |
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} |
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EulerAngles::EulerAngles(float phi, float theta, float psi) : |
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Vector(3) |
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{ |
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setPhi(phi); |
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setTheta(theta); |
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setPsi(psi); |
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} |
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EulerAngles::EulerAngles(const Quaternion &q) : |
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Vector(3) |
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{ |
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(*this) = EulerAngles(Dcm(q)); |
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} |
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EulerAngles::EulerAngles(const Dcm &dcm) : |
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Vector(3) |
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{ |
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setTheta(asinf(-dcm(2, 0))); |
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if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) { |
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setPhi(0.0f); |
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setPsi(atan2f(dcm(1, 2) - dcm(0, 1), |
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dcm(0, 2) + dcm(1, 1)) + getPhi()); |
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} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) { |
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setPhi(0.0f); |
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setPsi(atan2f(dcm(1, 2) - dcm(0, 1), |
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dcm(0, 2) + dcm(1, 1)) - getPhi()); |
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} else { |
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setPhi(atan2f(dcm(2, 1), dcm(2, 2))); |
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setPsi(atan2f(dcm(1, 0), dcm(0, 0))); |
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} |
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} |
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EulerAngles::~EulerAngles() |
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{ |
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} |
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int __EXPORT eulerAnglesTest() |
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{ |
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printf("Test EulerAngles\t: "); |
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EulerAngles euler(0.1f, 0.2f, 0.3f); |
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// test ctor |
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ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); |
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ASSERT(equal(euler.getPhi(), 0.1f)); |
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ASSERT(equal(euler.getTheta(), 0.2f)); |
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ASSERT(equal(euler.getPsi(), 0.3f)); |
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// test dcm ctor |
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euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f)); |
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ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); |
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// test quat ctor |
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euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f)); |
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ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); |
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// test assignment |
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euler.setPhi(0.4f); |
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euler.setTheta(0.5f); |
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euler.setPsi(0.6f); |
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ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler)); |
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printf("PASS\n"); |
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return 0; |
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} |
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} // namespace math
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