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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
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Roman
2016-05-15 18:42:21 +02:00
parent e3a1d67444
commit 3152d3d6cf
3 changed files with 55 additions and 37 deletions
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matrix/Dcm.hpp
+15 -8
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@@ -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;