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/****************************************************************************
*
* 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 <systemlib/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(1,2,3);
// test ctor
ASSERT(vectorEqual(Vector3(1,2,3),euler));
ASSERT(equal(euler.getPhi(),1));
ASSERT(equal(euler.getTheta(),2));
ASSERT(equal(euler.getPsi(),3));
// test dcm ctor
// test assignment
euler.setPhi(4);
ASSERT(equal(euler.getPhi(),4));
euler.setTheta(5);
ASSERT(equal(euler.getTheta(),5));
euler.setPsi(6);
ASSERT(equal(euler.getPsi(),6));
printf("PASS\n");
return 0;
}
} // namespace math
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