diff options
Diffstat (limited to 'apps/mathlib/math/Dcm.hpp')
-rw-r--r-- | apps/mathlib/math/Dcm.hpp | 96 |
1 files changed, 96 insertions, 0 deletions
diff --git a/apps/mathlib/math/Dcm.hpp b/apps/mathlib/math/Dcm.hpp new file mode 100644 index 000000000..de69a7aa4 --- /dev/null +++ b/apps/mathlib/math/Dcm.hpp @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * 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 + |