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removing body and intertial frame expressions and establishing consistency

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Andreas Bircher 2016-05-12 10:24:37 +02:00 committed by Roman
parent 4a405e7f60
commit 81eacb0cfa
1 changed files with 31 additions and 26 deletions
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57
matrix/Euler.hpp
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@ -4,7 +4,7 @@
* 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.
* It follows the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence.
* In order to go from frame 1 to frame 2 we apply the following rotations consecutively.
* 1) We rotate about our initial Z axis by an angle of _psi.
* 2) We rotate about the newly created Y' axis by an angle of _theta.
@ -33,8 +33,8 @@ class Quaternion;
/**
* Euler angles class
*
* This class describes the transformation from the body fixed frame
* to the inertial frame via 3-2-1 tait brian euler angles.
* This class describes the rotation from frame 1
* to frame 2 via 3-2-1 intrinsic Tait-Bryan rotation sequence.
*/
template<typename Type>
class Euler : public Vector<Type, 3>
@ -72,8 +72,9 @@ public:
/**
* Constructor from euler angles
*
* Instance is initialized from angle tripplet (3,2,1)
* representing transformation from body frame to inertial frame.
* Instance is initialized from an 3-2-1 intrinsic Tait-Bryan
* rotation sequence representing transformation from frame 1
* to frame 2.
*
* @param phi_ rotation angle about X axis
* @param theta_ rotation angle about Y axis
@ -87,10 +88,10 @@ public:
/**
* Constructor from DCM matrix
*
* Instance is set from Dcm representing
* transformation from frame 2 to frame 1.
* This instance will hold the angles defining the rotation
* from frame 1 to frame 2.
* Instance is set from Dcm representing transformation from
* frame 2 to frame 1.
* This instance will hold the angles defining the 3-2-1 intrinsic
* Tait-Bryan rotation sequence from frame 1 to frame 2.
*
* @param dcm Direction cosine matrix
*/
@ -102,10 +103,10 @@ public:
/**
* Constructor from quaternion instance.
*
* Instance is set from a quaternion representing
* transformation from frame 2 to frame 1.
* This instance will hold the angles defining the rotation
* from frame 1 to frame 2.
* Instance is set from a quaternion representing transformation
* from frame 2 to frame 1.
* This instance will hold the angles defining the 3-2-1 intrinsic
* Tait-Bryan rotation sequence from frame 1 to frame 2.
*
* @param q quaternion
*/
@ -118,12 +119,12 @@ public:
/**
* Set from euler angles
*
* Instance is set from angle tripplet (3,2,1) representing
* rotation from frame 1 to frame 2.
* Instance is set from an 3-2-1 intrinsic Tait-Bryan rotation
* sequence representing transformation from frame 1 to frame 2.
*
* @param phi_ roll
* @param theta_ pitch
* @param psi_ yaw
* @param phi_ rotation angle about X axis
* @param theta_ rotation angle about Y axis
* @param psi_ rotation angle about Z axis
*/
void set_from_euler(Type phi_, Type theta_, Type psi_)
{
@ -133,12 +134,14 @@ public:
}
/**
* Set from dcm
* Set from DCM matrix
*
* Instance is set from dcm representing transformation
* from frame 2 to frame 1.
* Instance is set from Dcm representing transformation from
* frame 2 to frame 1.
* This instance will hold the angles defining the 3-2-1 intrinsic
* Tait-Bryan rotation sequence from frame 1 to frame 2.
*
* @param dcm Direction cosine matrix instance to convert from.
* @param dcm Direction cosine matrix
*/
void set_from_dcm(const Dcm<Type> & dcm)
{
@ -161,12 +164,14 @@ public:
}
/**
* Set from dcm
* Set from quaternion instance.
*
* Instance is set from quaternion representing
* transformation from body frame to inertial frame.
* Instance is set from a quaternion representing transformation
* from frame 2 to frame 1.
* This instance will hold the angles defining the 3-2-1 intrinsic
* Tait-Bryan rotation sequence from frame 1 to frame 2.
*
* @param q quaternion to set angles to
* @param q quaternion
*/
void set_from_quaternion(const Quaternion<Type> & q)
{