diff options
Diffstat (limited to 'apps/mathlib/math/Dcm.cpp')
| -rw-r--r-- | apps/mathlib/math/Dcm.cpp | 91 |
1 files changed, 60 insertions, 31 deletions
diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp index 59f3d88ab..df0f09b20 100644 --- a/apps/mathlib/math/Dcm.cpp +++ b/apps/mathlib/math/Dcm.cpp @@ -52,6 +52,23 @@ Dcm::Dcm() : { } +Dcm::Dcm(float c00, float c01, float c02, + float c10, float c11, float c12, + float c20, float c21, float c22) : + Matrix(3, 3) +{ + Dcm &dcm = *this; + dcm(0, 0) = c00; + dcm(0, 1) = c01; + dcm(0, 2) = c02; + dcm(1, 0) = c10; + dcm(1, 1) = c11; + dcm(1, 2) = c12; + dcm(2, 0) = c20; + dcm(2, 1) = c21; + dcm(2, 2) = c22; +} + Dcm::Dcm(const float *data) : Matrix(3, 3, data) { @@ -61,22 +78,22 @@ 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; + double a = q.getA(); + double b = q.getB(); + double c = q.getC(); + double d = q.getD(); + double aSq = a * a; + double bSq = b * b; + double cSq = c * c; + double 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(0, 1) = 2.0 * (b * c - a * d); + dcm(0, 2) = 2.0 * (a * c + b * d); + dcm(1, 0) = 2.0 * (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(1, 2) = 2.0 * (c * d - a * b); + dcm(2, 0) = 2.0 * (b * d - a * c); + dcm(2, 1) = 2.0 * (a * b + c * d); dcm(2, 2) = aSq - bSq - cSq + dSq; } @@ -84,12 +101,12 @@ 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()); + double cosPhi = cos(euler.getPhi()); + double sinPhi = sin(euler.getPhi()); + double cosThe = cos(euler.getTheta()); + double sinThe = sin(euler.getTheta()); + double cosPsi = cos(euler.getPsi()); + double sinPsi = sin(euler.getPsi()); dcm(0, 0) = cosThe * cosPsi; dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi; @@ -116,18 +133,30 @@ Dcm::~Dcm() int __EXPORT dcmTest() { printf("Test DCM\t\t: "); - Vector3 vB(1, 2, 3); - ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)), + // default ctor + ASSERT(matrixEqual(Dcm(), 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), + // quaternion ctor + ASSERT(matrixEqual( + Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)), + Dcm(0.9362934f, -0.2750958f, 0.2183507f, + 0.2896295f, 0.9564251f, -0.0369570f, + -0.1986693f, 0.0978434f, 0.9751703f))); + // euler angle ctor + ASSERT(matrixEqual( + Dcm(EulerAngles(0.1f, 0.2f, 0.3f)), + Dcm(0.9362934f, -0.2750958f, 0.2183507f, + 0.2896295f, 0.9564251f, -0.0369570f, + -0.1986693f, 0.0978434f, 0.9751703f))); + // rotations + Vector3 vB(1, 2, 3); + ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f), + Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB)); + ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f), + Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB)); + ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f), + Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB)); + ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f), Dcm(EulerAngles( M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB)); printf("PASS\n"); |