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Diffstat (limited to 'src/modules/mathlib/math/EulerAngles.hpp')
-rw-r--r-- | src/modules/mathlib/math/EulerAngles.hpp | 74 |
1 files changed, 74 insertions, 0 deletions
diff --git a/src/modules/mathlib/math/EulerAngles.hpp b/src/modules/mathlib/math/EulerAngles.hpp new file mode 100644 index 000000000..399eecfa7 --- /dev/null +++ b/src/modules/mathlib/math/EulerAngles.hpp @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * 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 + |