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Diffstat (limited to 'src/modules/mathlib/math/Dcm.cpp')
-rw-r--r-- | src/modules/mathlib/math/Dcm.cpp | 174 |
1 files changed, 0 insertions, 174 deletions
diff --git a/src/modules/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp deleted file mode 100644 index f509f7081..000000000 --- a/src/modules/mathlib/math/Dcm.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/**************************************************************************** - * - * 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 <mathlib/math/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(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[3][3]) : - Matrix(3, 3) -{ - Dcm &dcm = *this; - /* set rotation matrix */ - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - dcm(i, j) = data[i][j]; -} - -Dcm::Dcm(const float *data) : - Matrix(3, 3, data) -{ -} - -Dcm::Dcm(const Quaternion &q) : - Matrix(3, 3) -{ - Dcm &dcm = *this; - 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) = 2.0 * (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) = 2.0 * (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; -} - -Dcm::Dcm(const EulerAngles &euler) : - Matrix(3, 3) -{ - Dcm &dcm = *this; - 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; - 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: "); - // default ctor - ASSERT(matrixEqual(Dcm(), - Matrix::identity(3))); - // 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"); - return 0; -} -} // namespace math |