Added math library.

1 files changed, 95 insertions, 0 deletions

diff --git a/apps/systemlib/math/Dcm.hpp b/apps/systemlib/math/Dcm.hpp
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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.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();
+
+    /**
+     * 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
+