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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/EulerAngles.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/EulerAngles.cpp')
-rw-r--r-- | apps/systemlib/math/EulerAngles.cpp | 124 |
1 files changed, 124 insertions, 0 deletions
diff --git a/apps/systemlib/math/EulerAngles.cpp b/apps/systemlib/math/EulerAngles.cpp new file mode 100644 index 000000000..b530f172d --- /dev/null +++ b/apps/systemlib/math/EulerAngles.cpp @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * 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 Vector.cpp + * + * math vector + */ + +#include <systemlib/test/test.hpp> + +#include "EulerAngles.hpp" +#include "Quaternion.hpp" +#include "Dcm.hpp" +#include "Vector3.hpp" + +namespace math +{ + +EulerAngles::EulerAngles() : + Vector(3) +{ + setPhi(0.0f); + setTheta(0.0f); + setPsi(0.0f); +} + +EulerAngles::EulerAngles(float phi, float theta, float psi) : + Vector(3) +{ + setPhi(phi); + setTheta(theta); + setPsi(psi); +} + +EulerAngles::EulerAngles(const Quaternion & q) : + Vector(3) +{ + (*this) = EulerAngles(Dcm(q)); +} + +EulerAngles::EulerAngles(const Dcm & dcm) : + Vector(3) +{ + setTheta(asinf(-dcm(2,0))); + if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) + { + setPhi(0.0f); + setPsi(atan2f(dcm(1,2) - dcm(0,1), + dcm(0,2) + dcm(1,1)) + getPhi()); + } + else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) + { + setPhi(0.0f); + setPsi(atan2f(dcm(1,2) - dcm(0,1), + dcm(0,2) + dcm(1,1)) - getPhi()); + } + else + { + setPhi(atan2f(dcm(2,1),dcm(2,2))); + setPsi(atan2f(dcm(1,0),dcm(0,0))); + } +} + +EulerAngles::~EulerAngles() +{ +} + +int __EXPORT eulerAnglesTest() +{ + printf("Test EulerAngles\t: "); + EulerAngles euler(1,2,3); + + // test ctor + ASSERT(vectorEqual(Vector3(1,2,3),euler)); + ASSERT(equal(euler.getPhi(),1)); + ASSERT(equal(euler.getTheta(),2)); + ASSERT(equal(euler.getPsi(),3)); + + // test dcm ctor + + // test assignment + euler.setPhi(4); + ASSERT(equal(euler.getPhi(),4)); + euler.setTheta(5); + ASSERT(equal(euler.getTheta(),5)); + euler.setPsi(6); + ASSERT(equal(euler.getPsi(),6)); + + printf("PASS\n"); + return 0; +} + +} // namespace math |