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[math][dox] add some dox about euler convention

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This commit is contained in:
Felix Ruess
2014-10-28 18:56:30 +01:00
parent fa9043b9de
commit 1af5b2722c
3 changed files with 36 additions and 1 deletions
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sw/airborne/math/pprz_algebra_double.h
+12
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@@ -136,6 +136,18 @@ static inline void double_quat_normalize(struct DoubleQuat* q)
}
}
/** Rotation matrix from 321 Euler angles (double).
* The Euler angles are interpreted as zy'x'' (intrinsic) rotation.
* First rotate around z with psi, then around the new y' with theta,
* then around new x'' with phi.
* This is the same as a xyz (extrinsic) rotation,
* rotating around the fixed x, then y then z axis.
* - psi range: -pi < psi <= pi
* - theta range: -pi/2 <= theta <= pi/2
* - phi range: -pi < phi <= pi
* @param[out] rm pointer to rotation matrix
* @param[in] e pointer to Euler angles
*/
extern void double_rmat_of_eulers_321(struct DoubleRMat* rm, struct DoubleEulers* e);
extern void double_quat_of_eulers(struct DoubleQuat* q, struct DoubleEulers* e);
extern void double_eulers_of_quat(struct DoubleEulers* e, struct DoubleQuat* q);
sw/airborne/math/pprz_algebra_float.h
+12
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@@ -285,6 +285,18 @@ extern void float_rmat_transp_ratemult(struct FloatRates* rb, struct FloatRMat*
/** initialises a rotation matrix from unit vector axis and angle */
extern void float_rmat_of_axis_angle(struct FloatRMat* rm, struct FloatVect3* uv, float angle);
/** Rotation matrix from 321 Euler angles (float).
* The Euler angles are interpreted as zy'x'' (intrinsic) rotation.
* First rotate around z with psi, then around the new y' with theta,
* then around new x'' with phi.
* This is the same as a xyz (extrinsic) rotation,
* rotating around the fixed x, then y then z axis.
* - psi range: -pi < psi <= pi
* - theta range: -pi/2 <= theta <= pi/2
* - phi range: -pi < phi <= pi
* @param[out] rm pointer to rotation matrix
* @param[in] e pointer to Euler angles
*/
extern void float_rmat_of_eulers_321(struct FloatRMat* rm, struct FloatEulers* e);
extern void float_rmat_of_eulers_312(struct FloatRMat* rm, struct FloatEulers* e);
#define float_rmat_of_eulers float_rmat_of_eulers_321
sw/airborne/math/pprz_algebra_int.h
+12 -1
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@@ -382,7 +382,18 @@ extern void int32_rmat_transp_ratemult(struct Int32Rates* rb, struct Int32RMat*
/// Convert unit quaternion to rotation matrix.
extern void int32_rmat_of_quat(struct Int32RMat* rm, struct Int32Quat* q);
/// Rotation matrix from 321 Euler angles.
/** Rotation matrix from 321 Euler angles (int).
* The Euler angles are interpreted as zy'x'' (intrinsic) rotation.
* First rotate around z with psi, then around the new y' with theta,
* then around new x'' with phi.
* This is the same as a xyz (extrinsic) rotation,
* rotating around the fixed x, then y then z axis.
* - psi range: -pi < psi <= pi
* - theta range: -pi/2 <= theta <= pi/2
* - phi range: -pi < phi <= pi
* @param[out] rm pointer to rotation matrix
* @param[in] e pointer to Euler angles
*/
extern void int32_rmat_of_eulers_321(struct Int32RMat* rm, struct Int32Eulers* e);
/// Rotation matrix from 312 Euler angles.