From 4a405e7f603a35645e352846cd14820eaa7c4813 Mon Sep 17 00:00:00 2001 From: Roman Date: Tue, 10 May 2016 13:12:51 +0200 Subject: [PATCH] make it clear that we are using right hand rotation convention --- matrix/Dcm.hpp | 3 ++- matrix/Euler.hpp | 2 ++ matrix/Quaternion.hpp | 2 ++ 3 files changed, 6 insertions(+), 1 deletion(-) diff --git a/matrix/Dcm.hpp b/matrix/Dcm.hpp index af40f85d65..c8228ef9a3 100644 --- a/matrix/Dcm.hpp +++ b/matrix/Dcm.hpp @@ -2,10 +2,11 @@ * @file Dcm.hpp * * A direction cosine matrix class. + * All rotations and axis systems follow the right-hand rule. * * 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. + * 1 to coordinate system 2 to the vector. * Likewise, a matrix instance of this class also represents a coordinate transformation * from frame 2 to frame 1. * diff --git a/matrix/Euler.hpp b/matrix/Euler.hpp index 14fac52aaf..1808f02152 100644 --- a/matrix/Euler.hpp +++ b/matrix/Euler.hpp @@ -1,6 +1,8 @@ /** * @file Euler.hpp * + * All rotations and axis systems follow the right-hand rule + * * 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. diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp index 9efa18d757..5730eab3b5 100644 --- a/matrix/Quaternion.hpp +++ b/matrix/Quaternion.hpp @@ -1,6 +1,8 @@ /** * @file Quaternion.hpp * + * All rotations and axis systems follow the right-hand rule. + * * A quaternion instance of this class describes a rotation from * coordinate frame 1 to coordinate frame 2. The first element of the quaternion * represents the real part, thus, a quaternion representing a zero-rotation