From fab110d21f147e5064ff140aadac649017fa466e Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 21 Aug 2013 18:13:01 +0200
Subject: Moved math library to library dir, improved sensor-level HIL, cleaned
 up geo / conversion libs

---
 src/lib/mathlib/math/EulerAngles.cpp | 126 +++++++++++++++++++++++++++++++++++
 1 file changed, 126 insertions(+)
 create mode 100644 src/lib/mathlib/math/EulerAngles.cpp

(limited to 'src/lib/mathlib/math/EulerAngles.cpp')

diff --git a/src/lib/mathlib/math/EulerAngles.cpp b/src/lib/mathlib/math/EulerAngles.cpp
new file mode 100644
index 000000000..e733d23bb
--- /dev/null
+++ b/src/lib/mathlib/math/EulerAngles.cpp
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+#include "EulerAngles.hpp"
+#include "Quaternion.hpp"
+#include "Dcm.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+EulerAngles::EulerAngles() :
+	Vector(3)
+{
+	setPhi(0.0f);
+	setTheta(0.0f);
+	setPsi(0.0f);
+}
+
+EulerAngles::EulerAngles(float phi, float theta, float psi) :
+	Vector(3)
+{
+	setPhi(phi);
+	setTheta(theta);
+	setPsi(psi);
+}
+
+EulerAngles::EulerAngles(const Quaternion &q) :
+	Vector(3)
+{
+	(*this) = EulerAngles(Dcm(q));
+}
+
+EulerAngles::EulerAngles(const Dcm &dcm) :
+	Vector(3)
+{
+	setTheta(asinf(-dcm(2, 0)));
+
+	if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) + getPhi());
+
+	} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) - getPhi());
+
+	} else {
+		setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
+		setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
+	}
+}
+
+EulerAngles::~EulerAngles()
+{
+}
+
+int __EXPORT eulerAnglesTest()
+{
+	printf("Test EulerAngles\t: ");
+	EulerAngles euler(0.1f, 0.2f, 0.3f);
+
+	// test ctor
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+	ASSERT(equal(euler.getPhi(), 0.1f));
+	ASSERT(equal(euler.getTheta(), 0.2f));
+	ASSERT(equal(euler.getPsi(), 0.3f));
+
+	// test dcm ctor
+	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test quat ctor
+	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+
+	// test assignment
+	euler.setPhi(0.4f);
+	euler.setTheta(0.5f);
+	euler.setPsi(0.6f);
+	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
+
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math
-- 
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