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AP_Math: added rfu_to_frd() method for Vector3

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This commit is contained in:
Andrew Tridgell 2023-12-01 08:59:18 +11:00
parent 61b3ad326d
commit ddccc92e7d
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Math/vector3.h
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@ -281,6 +281,12 @@ public:
return Vector3<double>{x,y,z}; return Vector3<double>{x,y,z};
} }
// convert from right-front-up to front-right-down
// or ENU to NED
Vector3<T> rfu_to_frd() const {
return Vector3<T>{y,x,-z};
}
// given a position p1 and a velocity v1 produce a vector // given a position p1 and a velocity v1 produce a vector
// perpendicular to v1 maximising distance from p1. If p1 is the // perpendicular to v1 maximising distance from p1. If p1 is the
// zero vector the return from the function will always be the // zero vector the return from the function will always be the