Move the math library pieces out of systemlib into mathlib

apps/mathlib/math/Dcm.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   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.hpp
+ *
+ * math direction cosine matrix
+ */
+
+//#pragma once
+
+#include "Vector.hpp"
+#include "Matrix.hpp"
+
+namespace math
+{
+
+class Quaternion;
+class EulerAngles;
+
+/**
+ * This is a Tait Bryan, Body 3-2-1 sequence.
+ * (yaw)-(pitch)-(roll)
+ * The Dcm transforms a vector in the body frame
+ * to the navigation frame, typically represented
+ * as C_nb. C_bn can be obtained through use
+ * of the transpose() method.
+ */
+class __EXPORT Dcm : public Matrix
+{
+public:
+	/**
+	 * default ctor
+	 */
+	Dcm();
+
+	/**
+	 * data ctor
+	 */
+	Dcm(const float *data);
+
+	/**
+	 * quaternion ctor
+	 */
+	Dcm(const Quaternion &q);
+
+	/**
+	 * euler angles ctor
+	 */
+	Dcm(const EulerAngles &euler);
+
+	/**
+	 * copy ctor (deep)
+	 */
+	Dcm(const Dcm &right);
+
+	/**
+	 * dtor
+	 */
+	virtual ~Dcm();
+};
+
+int __EXPORT dcmTest();
+
+} // math
+