mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
127 lines
3.4 KiB
C++
127 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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 "math/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(0.1f, 0.2f, 0.3f);
|
|
|
|
// test ctor
|
|
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
|
|
ASSERT(equal(euler.getPhi(), 0.1f));
|
|
ASSERT(equal(euler.getTheta(), 0.2f));
|
|
ASSERT(equal(euler.getPsi(), 0.3f));
|
|
|
|
// test dcm ctor
|
|
euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
|
|
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
|
|
|
|
// test quat ctor
|
|
euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
|
|
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
|
|
|
|
// test assignment
|
|
euler.setPhi(0.4f);
|
|
euler.setTheta(0.5f);
|
|
euler.setPsi(0.6f);
|
|
ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
|
|
|
|
printf("PASS\n");
|
|
return 0;
|
|
}
|
|
|
|
} // namespace math
|