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make it clear that we are using right hand rotation convention

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Roman
2016-05-15 18:42:21 +02:00
parent 10c1b49bde
commit 4a405e7f60
3 changed files with 6 additions and 1 deletions
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matrix/Dcm.hpp
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@@ -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.
*