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AP_Math: add yaw 293, pitch 68, roll 180 rotation

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This commit is contained in:
Randy Mackay 2014-11-22 14:09:16 +09:00
parent 13b8159fb5
commit 3d2c9910b3
2 changed files with 11 additions and 1 deletions
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3
libraries/AP_Math/rotations.h
View File

@ -64,11 +64,12 @@ enum Rotation {
ROTATION_ROLL_270_PITCH_270 = 35,
ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
ROTATION_ROLL_90_YAW_270 = 37,
ROTATION_YAW_293_PITCH_68_ROLL_180 = 38,
ROTATION_MAX
};
/*
Here are the same values in a form sutable for a @Values attribute in
auto documentation:
@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270
@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180
*/

9
libraries/AP_Math/vector3.cpp
View File

@ -221,6 +221,15 @@ void Vector3<T>::rotate(enum Rotation rotation)
tmp = x; x = y; y = -tmp;
return;
}
case ROTATION_YAW_293_PITCH_68_ROLL_180: {
float tmp = x;
float tmpy = y;
float tmpz = z;
x = 0.1430389f * tmp -0.9184465f * tmpy -0.3687762f * tmpz;
y = -0.3321327f * tmp -0.3955452f * tmpy +0.8562895f * tmpz;
z = -0.9323238f * tmp -0.00000003f * tmpy -0.3616245f * tmpz;
return;
}
}
}