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better function descriptions for rotation classes:

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- do not talk specifically about body or earth frame, just use frame 1 and frame 2
This commit is contained in:
Roman
2016-05-10 10:46:28 +02:00
parent e3a1d67444
commit 3152d3d6cf
3 changed files with 55 additions and 37 deletions
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matrix/Dcm.hpp
+15 -8
View File
@@ -3,6 +3,12 @@
*
* A direction cosine matrix class.
*
* This library uses the convention that premultiplying a three dimensional
* vector represented in coordinate system 1 will apply a rotation from coordinate system
* 1 to coordinate system 2 to the vector. The rotation is performed following the right-hand rule.
* Likewise, a matrix instance of this class also represents a coordinate transformation
* from frame 2 to frame 1.
*
* @author James Goppert <james.goppert@gmail.com>
*/
@@ -66,7 +72,7 @@ public:
* Constructor from quaternion
*
* Instance is initialized from quaternion representing
* transformation from inertial frame to body frame.
* coordinate transformation from frame 2 to frame 1.
*
* @param q quaternion to set dcm to
*/
@@ -77,10 +83,11 @@ public:
/**
* Constructor from euler angles
*
* Instance is initialized from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
* This sets the transformation matrix from frame 2 to frame 1 where the rotation
* from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
*
* @param euler euler angles to set dcm to
*
* @param euler euler angle instance
*/
Dcm(const Euler<Type> & euler) {
set_from_euler(euler);
@@ -91,7 +98,7 @@ public:
* Set from quaternion
*
* Instance is set from quaternion representing
* transformation from inertial frame to body frame.
* transformation from frame 2 to frame 1.
*
* @param q quaternion to set dcm to
*/
@@ -119,10 +126,10 @@ public:
/**
* Set from euler angles
*
* Instance is set from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
* This provides the transformation matrix from frame 2 to frame 1 where the rotation
* from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence
*
* @param euler euler angles to set dcm to
* @param euler euler angle instannce
*/
void set_from_euler(const Euler<Type> & euler) {
Dcm &dcm = *this;
matrix/Euler.hpp
+25 -16
View File
@@ -1,7 +1,12 @@
/**
* @file Euler.hpp
*
* Euler angle tait-bryan body 3-2-1
* An instance of this class defines a rotation from coordinate frame 1 to coordinate frame 2.
* It follows the convention of an intrinsic tait-bryan 3-2-1 sequence.
* In order to go from frame 1 to frame 2 we apply the following rotations consecutively.
* 1) We rotate about our initial Z axis by an angle of _psi.
* 2) We rotate about the newly created Y' axis by an angle of _theta.
* 3) We rotate about the newly created X'' axis by an angle of _phi.
*
* @author James Goppert <james.goppert@gmail.com>
*/
@@ -68,9 +73,9 @@ public:
* Instance is initialized from angle tripplet (3,2,1)
* representing transformation from body frame to inertial frame.
*
* @param phi_ roll
* @param theta_ pitch
* @param psi_ yaw
* @param phi_ rotation angle about X axis
* @param theta_ rotation angle about Y axis
* @param psi_ rotation angle about Z axis
*/
Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
{
@@ -78,26 +83,30 @@ public:
}
/**
* Constructor from dcm
* Constructor from DCM matrix
*
* Instance is initialized from dcm representing transformation
* from body frame to inertial frame.
* Instance is set from Dcm representing
* transformation from frame 2 to frame 1.
* This instance will hold the angles defining the rotation
* from frame 1 to frame 2.
*
* @param dcm_ dcm to set angles to
*/
* @param dcm Direction cosine matrix
*/
Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
{
set_from_dcm(dcm);
}
/**
* Constructor from quaternion
* Constructor from quaternion instance.
*
* Instance is initialized from quaternion representing
* transformation from body frame to inertial frame.
* Instance is set from a quaternion representing
* transformation from frame 2 to frame 1.
* This instance will hold the angles defining the rotation
* from frame 1 to frame 2.
*
* @param q quaternion to set angles to
*/
* @param q quaternion
*/
Euler(const Quaternion<Type> & q) :
Vector<Type, 3>()
{
@@ -108,7 +117,7 @@ public:
* Set from euler angles
*
* Instance is set from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
* rotation from frame 1 to frame 2.
*
* @param phi_ roll
* @param theta_ pitch
@@ -125,7 +134,7 @@ public:
* Set from dcm
*
* Instance is set from dcm representing transformation
* from body frame to inertial frame.
* from frame 2 to frame 1.
*
* @param dcm_ dcm to set angles to
*/
matrix/Quaternion.hpp
+15 -13
View File
@@ -71,8 +71,8 @@ public:
/**
* Constructor from dcm
*
* Instance is initialized from a dcm representing transformation
* from inertial frame to body frame.
* Instance is initialized from a dcm representing coordinate transformation
* from frame 2 to frame 1.
*
* @param dcm dcm to set quaternion to
*/
@@ -85,10 +85,11 @@ public:
/**
* Constructor from euler angles
*
* Instance is initialized from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
* This sets the instance to a quaternion representing coordinate transformation from
* frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
* by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
*
* @param euler euler angles to set quaternion to
* @param euler euler angle instance
*/
Quaternion(const Euler<Type> & euler) :
Vector<Type, 4>()
@@ -99,8 +100,8 @@ public:
/**
* Constructor from quaternion values
*
* Instance is initialized from quaternion values representing
* transformation from inertial frame to body frame.
* Instance is initialized from quaternion values representing coordinate
* transformation from frame 2 to frame 1.
*
* @param a set quaternion value 0
* @param b set quaternion value 1
@@ -116,8 +117,8 @@ public:
/**
* Set from dcm
*
* Instance is set from a dcm representing transformation
* from inertial frame to body frame.
* Instance is set from a dcm representing coordinate transformation
* from frame 2 to frame 1.
*
* @param dcm dcm to set quaternion to
*/
@@ -137,8 +138,9 @@ public:
/**
* Set from euler angles
*
* Instance is set from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
* This sets the instance to a quaternion representing coordinate transformation from
* frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
* by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
*
* @param euler euler angles to set quaternion to
*/
@@ -164,8 +166,8 @@ public:
/**
* Set from quaternion values
*
* Instance is set from quaternion values representing
* transformation from inertial frame to body frame.
* Instance is set from quaternion values representing coordinate
* transformation from frame 2 to frame 1.
*
* @param a set quaternion value 0
* @param b set quaternion value 1