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AP_Math: added from_rotation() to Matrix3 

backport from master
This commit is contained in:
Andrew Tridgell 2018-04-25 19:48:58 +10:00
parent 66418d1ad4
commit 03eb3f62c5
2 changed files with 17 additions and 0 deletions
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14
libraries/AP_Math/matrix3.cpp
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@ -59,6 +59,19 @@ void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw) const
}
}
template <typename T>
void Matrix3<T>::from_rotation(enum Rotation rotation)
{
(*this).a(1,0,0);
(*this).b(0,1,0);
(*this).c(0,0,1);
(*this).a.rotate(rotation);
(*this).b.rotate(rotation);
(*this).c.rotate(rotation);
(*this).transpose();
}
/*
calculate Euler angles (312 convention) for the matrix.
See http://www.atacolorado.com/eulersequences.doc
@ -260,6 +273,7 @@ template void Matrix3<float>::rotate(const Vector3<float> &g);
template void Matrix3<float>::normalize(void);
template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw) const;
template void Matrix3<float>::from_rotation(enum Rotation rotation);
template void Matrix3<float>::from_euler312(float roll, float pitch, float yaw);
template void Matrix3<float>::from_axis_angle(const Vector3<float> &v, float theta);
template Vector3<float> Matrix3<float>::to_euler312(void) const;

3
libraries/AP_Math/matrix3.h
View File

@ -235,6 +235,9 @@ public:
// create eulers from a rotation matrix
void to_euler(float *roll, float *pitch, float *yaw) const;
// create matrix from rotation enum
void from_rotation(enum Rotation rotation);
/*
calculate Euler angles (312 convention) for the matrix.
See http://www.atacolorado.com/eulersequences.doc