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/**
* @file Dcm.cpp
*
* math direction cosine matrix
*/
#include "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(const float *data) :
Matrix(3, 3, data)
{
}
Dcm::Dcm(const Quaternion &q) :
Matrix(3, 3)
{
Dcm &dcm = *this;
float a = q.getA();
float b = q.getB();
float c = q.getC();
float d = q.getD();
float aSq = a * a;
float bSq = b * b;
float cSq = c * c;
float dSq = d * d;
dcm(0, 0) = aSq + bSq - cSq - dSq;
dcm(0, 1) = 2 * (b * c - a * d);
dcm(0, 2) = 2 * (a * c + b * d);
dcm(1, 0) = 2 * (b * c + a * d);
dcm(1, 1) = aSq - bSq + cSq - dSq;
dcm(1, 2) = 2 * (c * d - a * b);
dcm(2, 0) = 2 * (b * d - a * c);
dcm(2, 1) = 2 * (a * b + c * d);
dcm(2, 2) = aSq - bSq - cSq + dSq;
}
Dcm::Dcm(const EulerAngles &euler) :
Matrix(3, 3)
{
Dcm &dcm = *this;
float cosPhi = cosf(euler.getPhi());
float sinPhi = sinf(euler.getPhi());
float cosThe = cosf(euler.getTheta());
float sinThe = sinf(euler.getTheta());
float cosPsi = cosf(euler.getPsi());
float sinPsi = sinf(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: ");
Vector3 vB(1, 2, 3);
ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)),
Matrix::identity(3)));
ASSERT(matrixEqual(Dcm(EulerAngles(0, 0, 0)),
Matrix::identity(3)));
ASSERT(vectorEqual(Vector3(-2, 1, 3),
Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
ASSERT(vectorEqual(Vector3(1, -3, 2),
Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
Dcm(EulerAngles(
M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
printf("PASS\n");
return 0;
}
} // namespace math
