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/**
 * @file Dcm.cpp
 *
 * math direction cosine matrix
 */

#include <systemlib/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(const float * data) :
    Matrix(3,3,data)
{
}

Dcm::Dcm(const Quaternion & q) :
    Matrix(3,3)
{
    Dcm & dcm = *this;
    float a = q.getA();
    float b = q.getB();
    float c = q.getC();
    float d = q.getD();
    float aSq = a*a;
    float bSq = b*b;
    float cSq = c*c;
    float dSq = d*d;
    dcm(0,0) = aSq + bSq - cSq - dSq;
    dcm(0,1) = 2*(b*c - a*d);
    dcm(0,2) = 2*(a*c + b*d);
    dcm(1,0) = 2*(b*c + a*d);
    dcm(1,1) = aSq - bSq + cSq - dSq;
    dcm(1,2) = 2*(c*d - a*b);
    dcm(2,0) = 2*(b*d - a*c);
    dcm(2,1) = 2*(a*b + c*d);
    dcm(2,2) = aSq - bSq - cSq + dSq;
}

Dcm::Dcm(const EulerAngles & euler) :
    Matrix(3,3)
{
    Dcm & dcm = *this;
    float cosPhi = cosf(euler.getPhi());
    float sinPhi = sinf(euler.getPhi());
    float cosThe = cosf(euler.getTheta());
    float sinThe = sinf(euler.getTheta());
    float cosPsi = cosf(euler.getPsi());
    float sinPsi = sinf(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: ");
    Vector3 vB(1,2,3);
    ASSERT(matrixEqual(Dcm(Quaternion(1,0,0,0)),
                    Matrix::identity(3)));
    ASSERT(matrixEqual(Dcm(EulerAngles(0,0,0)),
                    Matrix::identity(3)));
    ASSERT(vectorEqual(Vector3(-2,1,3),
        Dcm(EulerAngles(0,0,M_PI_2_F))*vB));
    ASSERT(vectorEqual(Vector3(3,2,-1),
        Dcm(EulerAngles(0,M_PI_2_F,0))*vB));
    ASSERT(vectorEqual(Vector3(1,-3,2),
        Dcm(EulerAngles(M_PI_2_F,0,0))*vB));
    ASSERT(vectorEqual(Vector3(3,2,-1),
        Dcm(EulerAngles(
                M_PI_2_F,M_PI_2_F,M_PI_2_F))*vB));
    printf("PASS\n");
    return 0;
}
} // namespace math