mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
75 lines
2.4 KiB
C++
75 lines
2.4 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.h
|
|
*
|
|
* math vector
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "Vector.hpp"
|
|
|
|
namespace math
|
|
{
|
|
|
|
class Quaternion;
|
|
class Dcm;
|
|
|
|
class __EXPORT EulerAngles : public Vector
|
|
{
|
|
public:
|
|
EulerAngles();
|
|
EulerAngles(float phi, float theta, float psi);
|
|
EulerAngles(const Quaternion &q);
|
|
EulerAngles(const Dcm &dcm);
|
|
virtual ~EulerAngles();
|
|
|
|
// alias
|
|
void setPhi(float phi) { (*this)(0) = phi; }
|
|
void setTheta(float theta) { (*this)(1) = theta; }
|
|
void setPsi(float psi) { (*this)(2) = psi; }
|
|
|
|
// const accessors
|
|
const float &getPhi() const { return (*this)(0); }
|
|
const float &getTheta() const { return (*this)(1); }
|
|
const float &getPsi() const { return (*this)(2); }
|
|
|
|
};
|
|
|
|
int __EXPORT eulerAnglesTest();
|
|
|
|
} // math
|
|
|