Added math library.

2026-06-26 11:10:35 +08:00 · 2013-01-06 14:08:50 -05:00
parent 1579630efe
commit db3fabc3ba
22 changed files with 2834 additions and 0 deletions
@@ -0,0 +1,136 @@
+/****************************************************************************
+ *
+ *   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.cpp
+ *
+ * math direction cosine matrix
+ */
+
+#include <systemlib/test/test.hpp>
+
+#include "Dcm.hpp"
+#include "Quaternion.hpp"
+#include "EulerAngles.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+Dcm::Dcm() :
+    Matrix(Matrix::identity(3))
+{
+}
+
+Dcm::Dcm(const float * data) :
+    Matrix(3,3,data)
+{
+}
+
+Dcm::Dcm(const Quaternion & q) :
+    Matrix(3,3)
+{
+    Dcm & dcm = *this;
+    float a = q.getA();
+    float b = q.getB();
+    float c = q.getC();
+    float d = q.getD();
+    float aSq = a*a;
+    float bSq = b*b;
+    float cSq = c*c;
+    float dSq = d*d;
+    dcm(0,0) = aSq + bSq - cSq - dSq;
+    dcm(0,1) = 2*(b*c - a*d);
+    dcm(0,2) = 2*(a*c + b*d);
+    dcm(1,0) = 2*(b*c + a*d);
+    dcm(1,1) = aSq - bSq + cSq - dSq;
+    dcm(1,2) = 2*(c*d - a*b);
+    dcm(2,0) = 2*(b*d - a*c);
+    dcm(2,1) = 2*(a*b + c*d);
+    dcm(2,2) = aSq - bSq - cSq + dSq;
+}
+
+Dcm::Dcm(const EulerAngles & euler) :
+    Matrix(3,3)
+{
+    Dcm & dcm = *this;
+    float cosPhi = cosf(euler.getPhi());
+    float sinPhi = sinf(euler.getPhi());
+    float cosThe = cosf(euler.getTheta());
+    float sinThe = sinf(euler.getTheta());
+    float cosPsi = cosf(euler.getPsi());
+    float sinPsi = sinf(euler.getPsi());
+
+    dcm(0,0) = cosThe*cosPsi;
+    dcm(0,1) = -cosPhi*sinPsi + sinPhi*sinThe*cosPsi;
+    dcm(0,2) = sinPhi*sinPsi + cosPhi*sinThe*cosPsi;
+
+    dcm(1,0) = cosThe*sinPsi;
+    dcm(1,1) = cosPhi*cosPsi + sinPhi*sinThe*sinPsi;
+    dcm(1,2) = -sinPhi*cosPsi + cosPhi*sinThe*sinPsi;
+
+    dcm(2,0) = -sinThe;
+    dcm(2,1) = sinPhi*cosThe;
+    dcm(2,2) = cosPhi*cosThe;
+}
+
+Dcm::Dcm(const Dcm & right) :
+    Matrix(right)
+{
+}
+
+Dcm::~Dcm()
+{
+}
+
+int __EXPORT dcmTest()
+{
+    printf("Test DCM\t\t: ");
+    Vector3 vB(1,2,3);
+    ASSERT(matrixEqual(Dcm(Quaternion(1,0,0,0)),
+                    Matrix::identity(3)));
+    ASSERT(matrixEqual(Dcm(EulerAngles(0,0,0)),
+                    Matrix::identity(3)));
+    ASSERT(vectorEqual(Vector3(-2,1,3),
+        Dcm(EulerAngles(0,0,M_PI_2_F))*vB));
+    ASSERT(vectorEqual(Vector3(3,2,-1),
+        Dcm(EulerAngles(0,M_PI_2_F,0))*vB));
+    ASSERT(vectorEqual(Vector3(1,-3,2),
+        Dcm(EulerAngles(M_PI_2_F,0,0))*vB));
+    ASSERT(vectorEqual(Vector3(3,2,-1),
+        Dcm(EulerAngles(
+                M_PI_2_F,M_PI_2_F,M_PI_2_F))*vB));
+    printf("PASS\n");
+    return 0;
+}
+} // namespace math