Added math library.

2026-06-26 16:20:34 +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 +1,124 @@
+/****************************************************************************
+ *
+ *   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 Vector.cpp
+ *
+ * math vector
+ */
+
+#include <systemlib/test/test.hpp>
+
+#include "EulerAngles.hpp"
+#include "Quaternion.hpp"
+#include "Dcm.hpp"
+#include "Vector3.hpp"
+
+namespace math
+{
+
+EulerAngles::EulerAngles() :
+    Vector(3)
+{
+    setPhi(0.0f);
+    setTheta(0.0f);
+    setPsi(0.0f);
+}
+
+EulerAngles::EulerAngles(float phi, float theta, float psi) :
+    Vector(3)
+{
+    setPhi(phi);
+    setTheta(theta);
+    setPsi(psi);
+}
+
+EulerAngles::EulerAngles(const Quaternion & q) :
+    Vector(3)
+{
+    (*this) = EulerAngles(Dcm(q));
+}
+
+EulerAngles::EulerAngles(const Dcm & dcm) :
+    Vector(3)
+{
+    setTheta(asinf(-dcm(2,0))); 
+    if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f)
+    {
+        setPhi(0.0f);
+        setPsi(atan2f(dcm(1,2) - dcm(0,1),
+            dcm(0,2) + dcm(1,1)) + getPhi());
+    }
+    else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f)
+    {
+        setPhi(0.0f);
+        setPsi(atan2f(dcm(1,2) - dcm(0,1),
+            dcm(0,2) + dcm(1,1)) - getPhi());
+    }
+    else
+    {
+        setPhi(atan2f(dcm(2,1),dcm(2,2)));
+        setPsi(atan2f(dcm(1,0),dcm(0,0)));
+    }
+}
+
+EulerAngles::~EulerAngles()
+{
+}
+
+int __EXPORT eulerAnglesTest()
+{
+    printf("Test EulerAngles\t: ");
+    EulerAngles euler(1,2,3);
+
+    // test ctor
+    ASSERT(vectorEqual(Vector3(1,2,3),euler));
+    ASSERT(equal(euler.getPhi(),1));
+    ASSERT(equal(euler.getTheta(),2));
+    ASSERT(equal(euler.getPsi(),3));
+
+    // test dcm ctor
+
+    // test assignment
+    euler.setPhi(4);
+    ASSERT(equal(euler.getPhi(),4));
+    euler.setTheta(5);
+    ASSERT(equal(euler.getTheta(),5));
+    euler.setPsi(6);
+    ASSERT(equal(euler.getPsi(),6));
+    
+    printf("PASS\n");
+    return 0;
+}
+
+} // namespace math