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refactoring rotation classes and adding initial description

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This commit is contained in:
Andreas Bircher
2016-05-15 18:42:21 +02:00
committed by Roman
parent 3509329f30
commit 34e6e2a941
3 changed files with 322 additions and 8 deletions
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matrix/Euler.hpp
+88 -3
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@@ -23,34 +23,113 @@ class Dcm;
template <typename Type>
class Quaternion;
/**
* Euler angles class
*
* More elaborate class description
*/
template<typename Type>
class Euler : public Vector<Type, 3>
{
public:
virtual ~Euler() {};
/**
* Standard constructor
*
* More elaborate function description
*/
Euler() : Vector<Type, 3>()
{
}
/**
* Copy constructor
*
* More elaborate function description
*
* @param other vector to copy
*/
Euler(const Vector<Type, 3> & other) :
Vector<Type, 3>(other)
{
}
/**
* Constructor from Matrix31
*
* More elaborate function description
*
* @param other Matrix31 to copy
*/
Euler(const Matrix<Type, 3, 1> & other) :
Vector<Type, 3>(other)
{
}
/**
* Constructor from euler angles
*
* More elaborate function description
*
* @param phi_ roll
* @param theta_ pitch
* @param psi_ yaw
*/
Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
{
set_from_euler(phi_, theta_, psi_);
}
/**
* Constructor from dcm
*
* More elaborate function description
*
* @param dcm_ dcm to set angles to
*/
Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
{
set_from_dcm(dcm);
}
/**
* Constructor from quaternion
*
* More elaborate function description
*
* @param q quaternion to set angles to
*/
Euler(const Quaternion<Type> & q) :
Vector<Type, 3>()
{
set_from_quaternion(q);
}
/**
* Set from euler angles
*
* More elaborate function description
*
* @param phi_ roll
* @param theta_ pitch
* @param psi_ yaw
*/
void set_from_euler(Type phi_, Type theta_, Type psi_)
{
phi() = phi_;
theta() = theta_;
psi() = psi_;
}
Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
/**
* Set from dcm
*
* More elaborate function description
*
* @param dcm_ dcm to set angles to
*/
void set_from_dcm(const Dcm<Type> & dcm)
{
Type phi_val = Type(atan2(dcm(2,1), dcm(2,2)));
Type theta_val = Type(asin(-dcm(2,0)));
@@ -70,8 +149,14 @@ public:
psi() = psi_val;
}
Euler(const Quaternion<Type> & q) :
Vector<Type, 3>()
/**
* Set from dcm
*
* More elaborate function description
*
* @param q quaternion to set angles to
*/
void set_from_quaternion(const Quaternion<Type> & q)
{
*this = Euler(Dcm<Type>(q));
}