mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.1 KiB
C++
89 lines
2.1 KiB
C++
/*
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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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#pragma once
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#include "AP_CustomRotations_config.h"
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#if AP_CUSTOMROTATIONS_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#define NUM_CUST_ROT ROTATION_CUSTOM_END - ROTATION_CUSTOM_1
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struct AP_CustomRotation_params {
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public:
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AP_CustomRotation_params();
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static const struct AP_Param::GroupInfo var_info[];
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AP_Float roll;
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AP_Float pitch;
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AP_Float yaw;
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};
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class AP_CustomRotation {
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public:
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AP_CustomRotation(AP_CustomRotation_params &_params);
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void init();
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Quaternion q;
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Matrix3f m;
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AP_CustomRotation_params ¶ms;
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};
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class AP_CustomRotations {
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public:
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AP_CustomRotations();
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CLASS_NO_COPY(AP_CustomRotations);
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static AP_CustomRotations *get_singleton(void) { return singleton; }
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void init();
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void from_rotation(enum Rotation r, QuaternionD &q);
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void from_rotation(enum Rotation r, Quaternion &q);
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void rotate(enum Rotation r, Vector3d& v);
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void rotate(enum Rotation r, Vector3f& v);
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void convert(Rotation r, float roll, float pitch, float yaw);
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void set(Rotation r, float roll, float pitch, float yaw);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 enable;
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AP_CustomRotation* get_rotation(Rotation r);
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AP_CustomRotation* rotations[NUM_CUST_ROT];
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AP_CustomRotation_params params[NUM_CUST_ROT];
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static AP_CustomRotations *singleton;
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};
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namespace AP {
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AP_CustomRotations &custom_rotations();
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};
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#endif // AP_CUSTOMROTATIONS_ENABLED
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