Moved last libs, drivers and headers, cleaned up IO build

src/modules/mathlib/math/Dcm.cpp

@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   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) :
+	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