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/**
* @file Dcm.cpp
*
* math direction cosine matrix
*/
#include <systemlib/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
