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- better description for quaternion class

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- 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
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matrix/Euler.hpp
+7 -52
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@@ -82,7 +82,9 @@ public:
*/
Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
{
set_from_euler(phi_, theta_, psi_);
phi() = phi_;
theta() = theta_;
psi() = psi_;
}
/**
@@ -96,54 +98,6 @@ public:
* @param dcm Direction cosine matrix
*/
Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
{
set_from_dcm(dcm);
}
/**
* 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 3-2-1 intrinsic
* Tait-Bryan rotation sequence from frame 1 to frame 2.
*
* @param q quaternion
*/
Euler(const Quaternion<Type> & q) :
Vector<Type, 3>()
{
set_from_quaternion(q);
}
/**
* Set from euler angles
*
* Instance is set 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
* @param psi_ rotation angle about Z axis
*/
void set_from_euler(Type phi_, Type theta_, Type psi_)
{
phi() = phi_;
theta() = theta_;
psi() = psi_;
}
/**
* Set from DCM matrix
*
* 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
*/
void set_from_dcm(const Dcm<Type> & dcm)
{
Type phi_val = Type(atan2(dcm(2,1), dcm(2,2)));
Type theta_val = Type(asin(-dcm(2,0)));
@@ -164,7 +118,7 @@ public:
}
/**
* Set from quaternion instance.
* Constructor from quaternion instance.
*
* Instance is set from a quaternion representing transformation
* from frame 2 to frame 1.
@@ -172,8 +126,9 @@ public:
* Tait-Bryan rotation sequence from frame 1 to frame 2.
*
* @param q quaternion
*/
void set_from_quaternion(const Quaternion<Type> & q)
*/
Euler(const Quaternion<Type> & q) :
Vector<Type, 3>()
{
*this = Euler(Dcm<Type>(q));
}