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Diffstat (limited to 'apps/mathlib/math/Dcm.cpp')
| -rw-r--r-- | apps/mathlib/math/Dcm.cpp | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp new file mode 100644 index 000000000..4c2067aff --- /dev/null +++ b/apps/mathlib/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 "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 |