mirror of https://github.com/ArduPilot/ardupilot
218 lines
7.7 KiB
C++
218 lines
7.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* matrix3.cpp
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* Copyright (C) Andrew Tridgell 2012
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Math.h"
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#define HALF_SQRT_2 0.70710678118654757
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#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define MATRIX_ROTATION_YAW_45 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_135 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_225 Matrix3f(-HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_315 Matrix3f(HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
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#define MATRIX_ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_45 Matrix3f(HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_135 Matrix3f(-HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, -1)
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#define MATRIX_ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_225 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
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#define MATRIX_ROTATION_ROLL_180_YAW_315 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, -HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, -1)
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// fill in a matrix with a standard rotation
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template <typename T>
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void Matrix3<T>::rotation(enum Rotation r)
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{
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switch (r) {
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case ROTATION_NONE:
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case ROTATION_MAX:
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*this = MATRIX_ROTATION_NONE;
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break;
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case ROTATION_YAW_45:
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*this = MATRIX_ROTATION_YAW_45;
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break;
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case ROTATION_YAW_90:
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*this = MATRIX_ROTATION_YAW_90;
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break;
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case ROTATION_YAW_135:
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*this = MATRIX_ROTATION_YAW_135;
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break;
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case ROTATION_YAW_180:
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*this = MATRIX_ROTATION_YAW_180;
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break;
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case ROTATION_YAW_225:
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*this = MATRIX_ROTATION_YAW_225;
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break;
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case ROTATION_YAW_270:
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*this = MATRIX_ROTATION_YAW_270;
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break;
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case ROTATION_YAW_315:
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*this = MATRIX_ROTATION_YAW_315;
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break;
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case ROTATION_ROLL_180:
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*this = MATRIX_ROTATION_ROLL_180;
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break;
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case ROTATION_ROLL_180_YAW_45:
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*this = MATRIX_ROTATION_ROLL_180_YAW_45;
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break;
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case ROTATION_ROLL_180_YAW_90:
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*this = MATRIX_ROTATION_ROLL_180_YAW_90;
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break;
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case ROTATION_ROLL_180_YAW_135:
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*this = MATRIX_ROTATION_ROLL_180_YAW_135;
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break;
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case ROTATION_PITCH_180:
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*this = MATRIX_ROTATION_PITCH_180;
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break;
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case ROTATION_ROLL_180_YAW_225:
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*this = MATRIX_ROTATION_ROLL_180_YAW_225;
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break;
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case ROTATION_ROLL_180_YAW_270:
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*this = MATRIX_ROTATION_ROLL_180_YAW_270;
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break;
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case ROTATION_ROLL_180_YAW_315:
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*this = MATRIX_ROTATION_ROLL_180_YAW_315;
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break;
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}
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}
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// create a rotation matrix given some euler angles
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// this is based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
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template <typename T>
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void Matrix3<T>::from_euler(float roll, float pitch, float yaw)
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{
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float cp = cos(pitch);
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float sp = sin(pitch);
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float sr = sin(roll);
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float cr = cos(roll);
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float sy = sin(yaw);
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float cy = cos(yaw);
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a.x = cp * cy;
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a.y = (sr * sp * cy) - (cr * sy);
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a.z = (cr * sp * cy) + (sr * sy);
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b.x = cp * sy;
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b.y = (sr * sp * sy) + (cr * cy);
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b.z = (cr * sp * sy) - (sr * cy);
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c.x = -sp;
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c.y = sr * cp;
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c.z = cr * cp;
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}
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// calculate euler angles from a rotation matrix
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// this is based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
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template <typename T>
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void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw)
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{
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if (pitch != NULL) {
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*pitch = -safe_asin(c.x);
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}
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if (roll != NULL) {
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*roll = atan2(c.y, c.z);
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}
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if (yaw != NULL) {
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*yaw = atan2(b.x, a.x);
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}
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}
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// apply an additional rotation from a body frame gyro vector
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// to a rotation matrix.
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template <typename T>
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void Matrix3<T>::rotate(const Vector3<T> &g)
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{
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Matrix3f temp_matrix;
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temp_matrix.a.x = a.y * g.z - a.z * g.y;
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temp_matrix.a.y = a.z * g.x - a.x * g.z;
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temp_matrix.a.z = a.x * g.y - a.y * g.x;
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temp_matrix.b.x = b.y * g.z - b.z * g.y;
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temp_matrix.b.y = b.z * g.x - b.x * g.z;
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temp_matrix.b.z = b.x * g.y - b.y * g.x;
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temp_matrix.c.x = c.y * g.z - c.z * g.y;
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temp_matrix.c.y = c.z * g.x - c.x * g.z;
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temp_matrix.c.z = c.x * g.y - c.y * g.x;
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(*this) += temp_matrix;
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}
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// multiplication by a vector
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template <typename T>
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Vector3<T> Matrix3<T>::operator *(const Vector3<T> &v) const
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{
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return Vector3<T>(a.x * v.x + a.y * v.y + a.z * v.z,
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b.x * v.x + b.y * v.y + b.z * v.z,
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c.x * v.x + c.y * v.y + c.z * v.z);
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}
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// multiplication of transpose by a vector
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template <typename T>
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Vector3<T> Matrix3<T>::mul_transpose(const Vector3<T> &v) const
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{
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return Vector3<T>(a.x * v.x + b.x * v.y + c.x * v.z,
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a.y * v.x + b.y * v.y + c.y * v.z,
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a.z * v.x + b.z * v.y + c.z * v.z);
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}
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// multiplication by another Matrix3<T>
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template <typename T>
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Matrix3<T> Matrix3<T>::operator *(const Matrix3<T> &m) const
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{
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Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
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a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
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a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
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Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
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b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
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b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
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Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
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c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
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c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
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return temp;
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}
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template <typename T>
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Matrix3<T> Matrix3<T>::transposed(void) const
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{
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return Matrix3<T>(Vector3<T>(a.x, b.x, c.x),
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Vector3<T>(a.y, b.y, c.y),
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Vector3<T>(a.z, b.z, c.z));
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}
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template <typename T>
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void Matrix3<T>::zero(void)
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{
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a.x = a.y = a.z = 0;
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b.x = b.y = b.z = 0;
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c.x = c.y = c.z = 0;
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}
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// only define for float
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template void Matrix3<float>::rotation(enum Rotation);
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template void Matrix3<float>::zero(void);
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template void Matrix3<float>::rotate(const Vector3<float> &g);
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template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
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template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw);
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template Vector3<float> Matrix3<float>::operator *(const Vector3<float> &v) const;
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template Vector3<float> Matrix3<float>::mul_transpose(const Vector3<float> &v) const;
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template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) const;
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template Matrix3<float> Matrix3<float>::transposed(void) const;
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