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author | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:08:50 -0500 |
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committer | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:08:50 -0500 |
commit | db3fabc3baccdeef3108544b4e9da9c8f0895a58 (patch) | |
tree | 27ae1dfc7a5b36e3520abcb4a8346c607524c5a1 /apps/systemlib/math/Dcm.cpp | |
parent | 1579630efef6f719deefd0949f73c5df2bcc127b (diff) | |
download | px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.tar.gz px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.tar.bz2 px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.zip |
Added math library.
Diffstat (limited to 'apps/systemlib/math/Dcm.cpp')
-rw-r--r-- | apps/systemlib/math/Dcm.cpp | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/apps/systemlib/math/Dcm.cpp b/apps/systemlib/math/Dcm.cpp new file mode 100644 index 000000000..1e9c4ee6d --- /dev/null +++ b/apps/systemlib/math/Dcm.cpp @@ -0,0 +1,136 @@ +/**************************************************************************** + * + * 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 <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 |