1 files changed, 73 insertions, 0 deletions
diff --git a/apps/systemlib/math/EulerAngles.hpp b/apps/systemlib/math/EulerAngles.hpp
new file mode 100644
index 000000000..59e5500ad
--- /dev/null
+++ b/apps/systemlib/math/EulerAngles.hpp
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   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.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include "Vector.hpp"
+
+namespace math {
+
+class Quaternion;
+class Dcm;
+
+class __EXPORT EulerAngles : public Vector
+{
+public:
+    EulerAngles();
+    EulerAngles(float phi, float theta, float psi);
+    EulerAngles(const Quaternion & q);
+    EulerAngles(const Dcm & dcm);
+    virtual ~EulerAngles();
+
+    // alias
+    void setPhi(float phi) { (*this)(0) = phi; }
+    void setTheta(float theta) { (*this)(1) = theta; }
+    void setPsi(float psi) { (*this)(2) = psi; }
+
+    // const accessors
+    const float & getPhi() const { return (*this)(0); }
+    const float & getTheta() const { return (*this)(1); }
+    const float & getPsi() const { return (*this)(2); }
+
+};
+
+int __EXPORT eulerAnglesTest();
+
+} // math
+