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