1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
|
/****************************************************************************
*
* 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.hpp
*
* math direction cosine matrix
*/
//#pragma once
#include "Vector.hpp"
#include "Matrix.hpp"
namespace math
{
class Quaternion;
class EulerAngles;
/**
* This is a Tait Bryan, Body 3-2-1 sequence.
* (yaw)-(pitch)-(roll)
* The Dcm transforms a vector in the body frame
* to the navigation frame, typically represented
* as C_nb. C_bn can be obtained through use
* of the transpose() method.
*/
class __EXPORT Dcm : public Matrix
{
public:
/**
* default ctor
*/
Dcm();
/**
* scalar ctor
*/
Dcm(float c00, float c01, float c02,
float c10, float c11, float c12,
float c20, float c21, float c22);
/**
* data ctor
*/
Dcm(const float *data);
/**
* quaternion ctor
*/
Dcm(const Quaternion &q);
/**
* euler angles ctor
*/
Dcm(const EulerAngles &euler);
/**
* copy ctor (deep)
*/
Dcm(const Dcm &right);
/**
* dtor
*/
virtual ~Dcm();
};
int __EXPORT dcmTest();
} // math
|
