fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 05:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

- better description for quaternion class

Browse Source 
- revert conversion functions to constructor
This commit is contained in:
Roman
2016-05-16 09:21:44 +02:00
parent 81eacb0cfa
commit f4e2b21608
3 changed files with 34 additions and 142 deletions
Download Patch File Download Diff File Expand all files Collapse all files
matrix/Dcm.hpp
+6 -31
View File
@@ -78,32 +78,6 @@ public:
* @param q quaternion to set dcm to
*/
Dcm(const Quaternion<Type> & q) {
set_from_quaternion(q);
}
/**
* Constructor from euler angles
*
* This sets the transformation matrix from frame 2 to frame 1 where the rotation
* from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
*
*
* @param euler euler angle instance
*/
Dcm(const Euler<Type> & euler) {
set_from_euler(euler);
}
/**
* Set from quaternion
*
* Instance is set from quaternion representing
* transformation from frame 2 to frame 1.
*
* @param q quaternion to set dcm to
*/
void set_from_quaternion(const Quaternion<Type> & q) {
Dcm &dcm = *this;
Type a = q(0);
Type b = q(1);
@@ -125,14 +99,15 @@ public:
}
/**
* Set from euler angles
* Constructor from euler angles
*
* This provides the transformation matrix from frame 2 to frame 1 where the rotation
* from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence
* This sets the transformation matrix from frame 2 to frame 1 where the rotation
* from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
*
* @param euler euler angle instannce
*
* @param euler euler angle instance
*/
void set_from_euler(const Euler<Type> & euler) {
Dcm(const Euler<Type> & euler) {
Dcm &dcm = *this;
Type cosPhi = Type(cos(euler.phi()));
Type sinPhi = Type(sin(euler.phi()));