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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Dcm.cpp
*
* math direction cosine matrix
*/
#include <mathlib/math/test/test.hpp>
#include "Dcm.hpp"
#include "Quaternion.hpp"
#include "EulerAngles.hpp"
#include "Vector3.hpp"
namespace math
{
Dcm::Dcm() :
Matrix(Matrix::identity(3))
{
}
Dcm::Dcm(float c00, float c01, float c02,
float c10, float c11, float c12,
float c20, float c21, float c22) :
Matrix(3, 3)
{
Dcm &dcm = *this;
dcm(0, 0) = c00;
dcm(0, 1) = c01;
dcm(0, 2) = c02;
dcm(1, 0) = c10;
dcm(1, 1) = c11;
dcm(1, 2) = c12;
dcm(2, 0) = c20;
dcm(2, 1) = c21;
dcm(2, 2) = c22;
}
Dcm::Dcm(const float data[3][3]) :
Matrix(3, 3)
{
Dcm &dcm = *this;
/* set rotation matrix */
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
dcm(i, j) = data[i][j];
}
Dcm::Dcm(const float *data) :
Matrix(3, 3, data)
{
}
Dcm::Dcm(const Quaternion &q) :
Matrix(3, 3)
{
Dcm &dcm = *this;
double a = q.getA();
double b = q.getB();
double c = q.getC();
double d = q.getD();
double aSq = a * a;
double bSq = b * b;
double cSq = c * c;
double dSq = d * d;
dcm(0, 0) = aSq + bSq - cSq - dSq;
dcm(0, 1) = 2.0 * (b * c - a * d);
dcm(0, 2) = 2.0 * (a * c + b * d);
dcm(1, 0) = 2.0 * (b * c + a * d);
dcm(1, 1) = aSq - bSq + cSq - dSq;
dcm(1, 2) = 2.0 * (c * d - a * b);
dcm(2, 0) = 2.0 * (b * d - a * c);
dcm(2, 1) = 2.0 * (a * b + c * d);
dcm(2, 2) = aSq - bSq - cSq + dSq;
}
Dcm::Dcm(const EulerAngles &euler) :
Matrix(3, 3)
{
Dcm &dcm = *this;
double cosPhi = cos(euler.getPhi());
double sinPhi = sin(euler.getPhi());
double cosThe = cos(euler.getTheta());
double sinThe = sin(euler.getTheta());
double cosPsi = cos(euler.getPsi());
double sinPsi = sin(euler.getPsi());
dcm(0, 0) = cosThe * cosPsi;
dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
dcm(1, 0) = cosThe * sinPsi;
dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
dcm(2, 0) = -sinThe;
dcm(2, 1) = sinPhi * cosThe;
dcm(2, 2) = cosPhi * cosThe;
}
Dcm::Dcm(const Dcm &right) :
Matrix(right)
{
}
Dcm::~Dcm()
{
}
int __EXPORT dcmTest()
{
printf("Test DCM\t\t: ");
// default ctor
ASSERT(matrixEqual(Dcm(),
Matrix::identity(3)));
// quaternion ctor
ASSERT(matrixEqual(
Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
Dcm(0.9362934f, -0.2750958f, 0.2183507f,
0.2896295f, 0.9564251f, -0.0369570f,
-0.1986693f, 0.0978434f, 0.9751703f)));
// euler angle ctor
ASSERT(matrixEqual(
Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
Dcm(0.9362934f, -0.2750958f, 0.2183507f,
0.2896295f, 0.9564251f, -0.0369570f,
-0.1986693f, 0.0978434f, 0.9751703f)));
// rotations
Vector3 vB(1, 2, 3);
ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
Dcm(EulerAngles(
M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
printf("PASS\n");
return 0;
}
} // namespace math
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