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adding detailed comments on rotation classes

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This commit is contained in:
Andreas Bircher
2016-05-15 18:42:21 +02:00
committed by Roman
parent af2e6d952e
commit e3a1d67444
3 changed files with 43 additions and 56 deletions
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matrix/Dcm.hpp
+10 -9
View File
@@ -23,7 +23,8 @@ class Euler;
/**
* Direction cosine matrix class
*
* More elaborate class description
* The rotation between two coordinate frames is
* described by this class.
*/
template<typename Type>
class Dcm : public Matrix<Type, 3, 3>
@@ -46,8 +47,6 @@ public:
/**
* Constructor from array
*
* More elaborate function description
*
* @param other array
*/
Dcm(const Type *data_) : Matrix<Type, 3, 3>(data_)
@@ -57,8 +56,6 @@ public:
/**
* Copy constructor
*
* More elaborate function description
*
* @param other Matrix33 to set dcm to
*/
Dcm(const Matrix<Type, 3, 3> &other) : Matrix<Type, 3, 3>(other)
@@ -68,7 +65,8 @@ public:
/**
* Constructor from quaternion
*
* More elaborate function description
* Instance is initialized from quaternion representing
* transformation from inertial frame to body frame.
*
* @param q quaternion to set dcm to
*/
@@ -79,7 +77,8 @@ public:
/**
* Constructor from euler angles
*
* More elaborate function description
* Instance is initialized from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
*
* @param euler euler angles to set dcm to
*/
@@ -91,7 +90,8 @@ public:
/**
* Set from quaternion
*
* More elaborate function description
* Instance is set from quaternion representing
* transformation from inertial frame to body frame.
*
* @param q quaternion to set dcm to
*/
@@ -119,7 +119,8 @@ public:
/**
* Set from euler angles
*
* More elaborate function description
* Instance is set from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
*
* @param euler euler angles to set dcm to
*/
matrix/Euler.hpp
+14 -13
View File
@@ -26,7 +26,8 @@ class Quaternion;
/**
* Euler angles class
*
* More elaborate class description
* This class describes the transformation from the body fixed frame
* to the inertial frame via 3-2-1 tait brian euler angles.
*/
template<typename Type>
class Euler : public Vector<Type, 3>
@@ -36,8 +37,6 @@ public:
/**
* Standard constructor
*
* More elaborate function description
*/
Euler() : Vector<Type, 3>()
{
@@ -46,8 +45,6 @@ public:
/**
* Copy constructor
*
* More elaborate function description
*
* @param other vector to copy
*/
Euler(const Vector<Type, 3> & other) :
@@ -58,8 +55,6 @@ public:
/**
* Constructor from Matrix31
*
* More elaborate function description
*
* @param other Matrix31 to copy
*/
Euler(const Matrix<Type, 3, 1> & other) :
@@ -70,7 +65,8 @@ public:
/**
* Constructor from euler angles
*
* More elaborate function description
* Instance is initialized from angle tripplet (3,2,1)
* representing transformation from body frame to inertial frame.
*
* @param phi_ roll
* @param theta_ pitch
@@ -84,7 +80,8 @@ public:
/**
* Constructor from dcm
*
* More elaborate function description
* Instance is initialized from dcm representing transformation
* from body frame to inertial frame.
*
* @param dcm_ dcm to set angles to
*/
@@ -96,7 +93,8 @@ public:
/**
* Constructor from quaternion
*
* More elaborate function description
* Instance is initialized from quaternion representing
* transformation from body frame to inertial frame.
*
* @param q quaternion to set angles to
*/
@@ -109,7 +107,8 @@ public:
/**
* Set from euler angles
*
* More elaborate function description
* Instance is set from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
*
* @param phi_ roll
* @param theta_ pitch
@@ -125,7 +124,8 @@ public:
/**
* Set from dcm
*
* More elaborate function description
* Instance is set from dcm representing transformation
* from body frame to inertial frame.
*
* @param dcm_ dcm to set angles to
*/
@@ -152,7 +152,8 @@ public:
/**
* Set from dcm
*
* More elaborate function description
* Instance is set from quaternion representing
* transformation from body frame to inertial frame.
*
* @param q quaternion to set angles to
*/
matrix/Quaternion.hpp
+19 -34
View File
@@ -23,7 +23,8 @@ class Euler;
/**
* Quaternion class
*
* More elaborate class description
* The rotation between two coordinate frames is
* described by this class.
*/
template<typename Type>
class Quaternion : public Vector<Type, 4>
@@ -37,8 +38,6 @@ public:
/**
* Constructor from array
*
* More elaborate function description
*
* @param data_ array
*/
Quaternion(const Type *data_) :
@@ -48,8 +47,6 @@ public:
/**
* Standard constructor
*
* More elaborate function description
*/
Quaternion() :
Vector<Type, 4>()
@@ -64,8 +61,6 @@ public:
/**
* Constructor from Matrix41
*
* More elaborate function description
*
* @param other Matrix41 to copy
*/
Quaternion(const Matrix41 & other) :
@@ -76,7 +71,8 @@ public:
/**
* Constructor from dcm
*
* More elaborate function description
* Instance is initialized from a dcm representing transformation
* from inertial frame to body frame.
*
* @param dcm dcm to set quaternion to
*/
@@ -89,7 +85,8 @@ public:
/**
* Constructor from euler angles
*
* More elaborate function description
* Instance is initialized from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
*
* @param euler euler angles to set quaternion to
*/
@@ -102,7 +99,8 @@ public:
/**
* Constructor from quaternion values
*
* More elaborate function description
* Instance is initialized from quaternion values representing
* transformation from inertial frame to body frame.
*
* @param a set quaternion value 0
* @param b set quaternion value 1
@@ -118,7 +116,8 @@ public:
/**
* Set from dcm
*
* More elaborate function description
* Instance is set from a dcm representing transformation
* from inertial frame to body frame.
*
* @param dcm dcm to set quaternion to
*/
@@ -138,7 +137,8 @@ public:
/**
* Set from euler angles
*
* More elaborate function description
* Instance is set from angle tripplet (3,2,1) representing
* transformation from body frame to inertial frame.
*
* @param euler euler angles to set quaternion to
*/
@@ -164,7 +164,8 @@ public:
/**
* Set from quaternion values
*
* More elaborate function description
* Instance is set from quaternion values representing
* transformation from inertial frame to body frame.
*
* @param a set quaternion value 0
* @param b set quaternion value 1
@@ -183,8 +184,6 @@ public:
/**
* Quaternion multiplication operator
*
* More elaborate function description
*
* @param q quaternion to multiply with
* @return product
*/
@@ -202,8 +201,6 @@ public:
/**
* Self-multiplication operator
*
* More elaborate function description
*
* @param other quaternion to multiply with
*/
void operator*=(const Quaternion & other)
@@ -215,8 +212,6 @@ public:
/**
* Scalar multiplication operator
*
* More elaborate function description
*
* @param scalar scalar to multiply with
* @return product
*/
@@ -229,8 +224,6 @@ public:
/**
* Scalar self-multiplication operator
*
* More elaborate function description
*
* @param scalar scalar to multiply with
*/
void operator*=(Type scalar)
@@ -242,8 +235,6 @@ public:
/**
* Computes the derivative
*
* More elaborate function description
*
* @param w direction
*/
Matrix41 derivative(const Matrix31 & w) const {
@@ -265,8 +256,6 @@ public:
/**
* Invert quaternion
*
* More elaborate function description
*/
void invert() {
Quaternion &q = *this;
@@ -278,8 +267,6 @@ public:
/**
* Invert quaternion
*
* More elaborate function description
*
* @return inverted quaternion
*/
Quaternion inversed() {
@@ -295,8 +282,6 @@ public:
/**
* Rotate quaternion from rotation vector
*
* More elaborate function description
*
* @param vec rotation vector
*/
void rotate(const Vector<Type, 3> &vec) {
@@ -308,7 +293,8 @@ public:
/**
* Rotation quaternion from vector
*
* More elaborate function description
* The axis of rotation is given by vector direction and
* the angle is given by the norm.
*
* @param vec rotation vector
* @return quaternion representing the rotation
@@ -326,9 +312,7 @@ public:
}
/**
* Rotation quaternion from axis and scalar
*
* More elaborate function description
* Rotation quaternion from axis and angle
*
* @param axis axis of rotation
* @param theta scalar describing angle of rotation
@@ -352,7 +336,8 @@ public:
/**
* Rotation vector from quaternion
*
* More elaborate function description
* The axis of rotation is given by vector direction and
* the angle is given by the norm.
*
* @return vector, direction representing rotation axis and norm representing angle
*/