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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.hpp | |
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.hpp')
-rw-r--r-- | apps/systemlib/math/Dcm.hpp | 95 |
1 files changed, 95 insertions, 0 deletions
diff --git a/apps/systemlib/math/Dcm.hpp b/apps/systemlib/math/Dcm.hpp new file mode 100644 index 000000000..658d902fa --- /dev/null +++ b/apps/systemlib/math/Dcm.hpp @@ -0,0 +1,95 @@ +/**************************************************************************** + * + * 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 + |