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Rebase of changes to sensor_hil_fixedwing branch.

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This commit is contained in:
James Goppert
2013-01-13 17:09:22 -05:00
parent 0fdf962356
commit 464c5245f2
16 changed files with 618 additions and 256 deletions
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apps/mathlib/math/Dcm.cpp
+53 -24
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@@ -52,6 +52,23 @@ Dcm::Dcm() :
{
}
Dcm::Dcm(float c00, float c01, float c02,
float c10, float c11, float c12,
float c20, float c21, float c22) :
Matrix(3, 3)
{
Dcm &dcm = *this;
dcm(0,0) = c00;
dcm(0,1) = c01;
dcm(0,2) = c02;
dcm(1,0) = c10;
dcm(1,1) = c11;
dcm(1,2) = c12;
dcm(2,0) = c20;
dcm(2,1) = c21;
dcm(2,2) = c22;
}
Dcm::Dcm(const float *data) :
Matrix(3, 3, data)
{
@@ -61,22 +78,22 @@ Dcm::Dcm(const Quaternion &q) :
Matrix(3, 3)
{
Dcm &dcm = *this;
float a = q.getA();
float b = q.getB();
float c = q.getC();
float d = q.getD();
float aSq = a * a;
float bSq = b * b;
float cSq = c * c;
float dSq = d * d;
double a = q.getA();
double b = q.getB();
double c = q.getC();
double d = q.getD();
double aSq = a * a;
double bSq = b * b;
double cSq = c * c;
double dSq = d * d;
dcm(0, 0) = aSq + bSq - cSq - dSq;
dcm(0, 1) = 2 * (b * c - a * d);
dcm(0, 2) = 2 * (a * c + b * d);
dcm(1, 0) = 2 * (b * c + a * d);
dcm(0, 1) = 2.0 * (b * c - a * d);
dcm(0, 2) = 2.0 * (a * c + b * d);
dcm(1, 0) = 2.0 * (b * c + a * d);
dcm(1, 1) = aSq - bSq + cSq - dSq;
dcm(1, 2) = 2 * (c * d - a * b);
dcm(2, 0) = 2 * (b * d - a * c);
dcm(2, 1) = 2 * (a * b + c * d);
dcm(1, 2) = 2.0 * (c * d - a * b);
dcm(2, 0) = 2.0 * (b * d - a * c);
dcm(2, 1) = 2.0 * (a * b + c * d);
dcm(2, 2) = aSq - bSq - cSq + dSq;
}
@@ -84,12 +101,12 @@ Dcm::Dcm(const EulerAngles &euler) :
Matrix(3, 3)
{
Dcm &dcm = *this;
float cosPhi = cosf(euler.getPhi());
float sinPhi = sinf(euler.getPhi());
float cosThe = cosf(euler.getTheta());
float sinThe = sinf(euler.getTheta());
float cosPsi = cosf(euler.getPsi());
float sinPsi = sinf(euler.getPsi());
double cosPhi = cos(euler.getPhi());
double sinPhi = sin(euler.getPhi());
double cosThe = cos(euler.getTheta());
double sinThe = sin(euler.getTheta());
double cosPsi = cos(euler.getPsi());
double sinPsi = sin(euler.getPsi());
dcm(0, 0) = cosThe * cosPsi;
dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
@@ -116,11 +133,23 @@ Dcm::~Dcm()
int __EXPORT dcmTest()
{
printf("Test DCM\t\t: ");
// default ctor
ASSERT(matrixEqual(Dcm(),
Matrix::identity(3)));
// quaternion ctor
ASSERT(matrixEqual(
Dcm(Quaternion(0.983347, 0.034271, 0.106021, 0.143572)),
Dcm( 0.9362934, -0.2750958, 0.2183507,
0.2896295, 0.9564251, -0.0369570,
-0.1986693, 0.0978434, 0.9751703)));
// euler angle ctor
ASSERT(matrixEqual(
Dcm(EulerAngles(0.1, 0.2, 0.3)),
Dcm( 0.9362934, -0.2750958, 0.2183507,
0.2896295, 0.9564251, -0.0369570,
-0.1986693, 0.0978434, 0.9751703)));
// rotations
Vector3 vB(1, 2, 3);
ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)),
Matrix::identity(3)));
ASSERT(matrixEqual(Dcm(EulerAngles(0, 0, 0)),
Matrix::identity(3)));
ASSERT(vectorEqual(Vector3(-2, 1, 3),
Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),