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james.goppert b852085f44 Updated documentation. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1287 f9c3cf11-9bcb-44bc-f272-b75c42450872
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>ArduPilot Libraries: AP_DCM Class Reference</title>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<h1>AP_DCM Class Reference</h1> </div>
</div>
<div class="contents">
<!-- doxytag: class="AP_DCM" -->
<p><code>#include &lt;<a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>&gt;</code></p>
<div class="dynheader">
Collaboration diagram for AP_DCM:</div>
<div class="dyncontent">
<div class="center"><img src="class_a_p___d_c_m__coll__graph.png" border="0" usemap="#_a_p___d_c_m_coll__map" alt="Collaboration graph"/></div>
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<area shape="rect" id="node2" href="class_matrix3.html" title="Matrix3\&lt; float \&gt;" alt="" coords="167,191,292,220"/><area shape="rect" id="node4" href="class_vector3.html" title="Vector3\&lt; float \&gt;" alt="" coords="128,5,256,35"/><area shape="rect" id="node6" href="class_a_p___i_m_u.html" title="AP_IMU" alt="" coords="316,191,385,220"/><area shape="rect" id="node8" href="class_a_p___a_d_c.html" title="AP_ADC" alt="" coords="313,5,388,35"/><area shape="rect" id="node11" href="class_g_p_s.html" title="Abstract base class for GPS receiver drivers." alt="" coords="409,191,457,220"/><area shape="rect" id="node13" href="class_stream.html" title="Stream" alt="" coords="412,5,481,35"/><area shape="rect" id="node16" href="class_compass.html" title="Compass" alt="" coords="481,191,564,220"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="class_a_p___d_c_m-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a479079725c0a9fc59ed87a802ffa14ed">AP_DCM</a> (<a class="el" href="class_a_p___i_m_u.html">AP_IMU</a> *imu, <a class="el" href="class_g_p_s.html">GPS</a> *gps)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#af6e7aafc6c3a5876eac31a26c37df1e8">AP_DCM</a> (<a class="el" href="class_a_p___i_m_u.html">AP_IMU</a> *imu, <a class="el" href="class_g_p_s.html">GPS</a> *gps, <a class="el" href="class_compass.html">Compass</a> *withCompass)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vector3.html">Vector3f</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a26e4515d100903df7d801891b75cdfc2">get_gyro</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vector3.html">Vector3f</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a2c03c18b2b80fc5c9cbbd0f3205e0459">get_accel</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_matrix3.html">Matrix3f</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a8472ebe5394725ce4231cec96d452988">get_dcm_matrix</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_matrix3.html">Matrix3f</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#ae6866e8b88a8bf3bda59037cc95c2061">get_dcm_transposed</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a680fa13a3114ece0d0f3019e06d8617e">set_centripetal</a> (bool b)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#adc0ecb44c04652f3696e62be5eb4ebd1">set_compass</a> (<a class="el" href="class_compass.html">Compass</a> *compass)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a9188cdc31e905c85a5f14dcdb063720b">update_DCM</a> (float _G_Dt)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a74d43cf5fd575ccdedf92eb1c2572417">get_health</a> (void)</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a0bb05c5d94979b86aca523b9d924dcda">roll_sensor</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#adf141fbe2398c902c2f1e400c265a1aa">pitch_sensor</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a9e24af31523858a17ddbd800f35ed25b">yaw_sensor</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a9793adc8a62cbc21439aef2b19259a39">roll</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a175109cd6b70bc290a7779174a88b42a">pitch</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#abddbee0f81d02d51ee91f57addedc266">yaw</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#a8ba0327e56c9d591070b93a72216041a">gyro_sat_count</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#ad724a2a16817d25dc95b16dc48f28ef4">renorm_sqrt_count</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_a_p___d_c_m.html#ae518c49e92751f43af3f1b7457254e13">renorm_blowup_count</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00020">20</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a479079725c0a9fc59ed87a802ffa14ed"></a><!-- doxytag: member="AP_DCM::AP_DCM" ref="a479079725c0a9fc59ed87a802ffa14ed" args="(AP_IMU *imu, GPS *gps)" -->
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<td class="memname">AP_DCM::AP_DCM </td>
<td>(</td>
<td class="paramtype"><a class="el" href="class_a_p___i_m_u.html">AP_IMU</a> *&nbsp;</td>
<td class="paramname"> <em>imu</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="class_g_p_s.html">GPS</a> *&nbsp;</td>
<td class="paramname"> <em>gps</em></td><td>&nbsp;</td>
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<td></td>
<td>)</td>
<td></td><td></td><td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00012">12</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="af6e7aafc6c3a5876eac31a26c37df1e8"></a><!-- doxytag: member="AP_DCM::AP_DCM" ref="af6e7aafc6c3a5876eac31a26c37df1e8" args="(AP_IMU *imu, GPS *gps, Compass *withCompass)" -->
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<td class="memname">AP_DCM::AP_DCM </td>
<td>(</td>
<td class="paramtype"><a class="el" href="class_a_p___i_m_u.html">AP_IMU</a> *&nbsp;</td>
<td class="paramname"> <em>imu</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="class_g_p_s.html">GPS</a> *&nbsp;</td>
<td class="paramname"> <em>gps</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="class_compass.html">Compass</a> *&nbsp;</td>
<td class="paramname"> <em>withCompass</em></td><td>&nbsp;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td><td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00023">23</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a2c03c18b2b80fc5c9cbbd0f3205e0459"></a><!-- doxytag: member="AP_DCM::get_accel" ref="a2c03c18b2b80fc5c9cbbd0f3205e0459" args="(void)" -->
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<td class="memname"><a class="el" href="class_vector3.html">Vector3f</a> AP_DCM::get_accel </td>
<td>(</td>
<td class="paramtype">void&nbsp;</td>
<td class="paramname"></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00036">36</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a8472ebe5394725ce4231cec96d452988"></a><!-- doxytag: member="AP_DCM::get_dcm_matrix" ref="a8472ebe5394725ce4231cec96d452988" args="(void)" -->
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<td class="memname"><a class="el" href="class_matrix3.html">Matrix3f</a> AP_DCM::get_dcm_matrix </td>
<td>(</td>
<td class="paramtype">void&nbsp;</td>
<td class="paramname"></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00037">37</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="ae6866e8b88a8bf3bda59037cc95c2061"></a><!-- doxytag: member="AP_DCM::get_dcm_transposed" ref="ae6866e8b88a8bf3bda59037cc95c2061" args="(void)" -->
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<td class="memname"><a class="el" href="class_matrix3.html">Matrix3f</a> AP_DCM::get_dcm_transposed </td>
<td>(</td>
<td class="paramtype">void&nbsp;</td>
<td class="paramname"></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00038">38</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a26e4515d100903df7d801891b75cdfc2"></a><!-- doxytag: member="AP_DCM::get_gyro" ref="a26e4515d100903df7d801891b75cdfc2" args="(void)" -->
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<td class="memname"><a class="el" href="class_vector3.html">Vector3f</a> AP_DCM::get_gyro </td>
<td>(</td>
<td class="paramtype">void&nbsp;</td>
<td class="paramname"></td>
<td>&nbsp;)&nbsp;</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00035">35</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a74d43cf5fd575ccdedf92eb1c2572417"></a><!-- doxytag: member="AP_DCM::get_health" ref="a74d43cf5fd575ccdedf92eb1c2572417" args="(void)" -->
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<td class="memname">float AP_DCM::get_health </td>
<td>(</td>
<td class="paramtype">void&nbsp;</td>
<td class="paramname"></td>
<td>&nbsp;)&nbsp;</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8cpp_source.html#l00329">329</a> of file <a class="el" href="_a_p___d_c_m_8cpp_source.html">AP_DCM.cpp</a>.</p>
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<a class="anchor" id="a680fa13a3114ece0d0f3019e06d8617e"></a><!-- doxytag: member="AP_DCM::set_centripetal" ref="a680fa13a3114ece0d0f3019e06d8617e" args="(bool b)" -->
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<td class="memname">void AP_DCM::set_centripetal </td>
<td>(</td>
<td class="paramtype">bool&nbsp;</td>
<td class="paramname"> <em>b</em></td>
<td>&nbsp;)&nbsp;</td>
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<a class="anchor" id="adc0ecb44c04652f3696e62be5eb4ebd1"></a><!-- doxytag: member="AP_DCM::set_compass" ref="adc0ecb44c04652f3696e62be5eb4ebd1" args="(Compass *compass)" -->
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<td class="memname">void AP_DCM::set_compass </td>
<td>(</td>
<td class="paramtype"><a class="el" href="class_compass.html">Compass</a> *&nbsp;</td>
<td class="paramname"> <em>compass</em></td>
<td>&nbsp;)&nbsp;</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8cpp_source.html#l00035">35</a> of file <a class="el" href="_a_p___d_c_m_8cpp_source.html">AP_DCM.cpp</a>.</p>
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<a class="anchor" id="a9188cdc31e905c85a5f14dcdb063720b"></a><!-- doxytag: member="AP_DCM::update_DCM" ref="a9188cdc31e905c85a5f14dcdb063720b" args="(float _G_Dt)" -->
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<td class="memname">void AP_DCM::update_DCM </td>
<td>(</td>
<td class="paramtype">float&nbsp;</td>
<td class="paramname"> <em>_G_Dt</em></td>
<td>&nbsp;)&nbsp;</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8cpp_source.html#l00042">42</a> of file <a class="el" href="_a_p___d_c_m_8cpp_source.html">AP_DCM.cpp</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a8ba0327e56c9d591070b93a72216041a"></a><!-- doxytag: member="AP_DCM::gyro_sat_count" ref="a8ba0327e56c9d591070b93a72216041a" args="" -->
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<td class="memname">uint8_t <a class="el" href="class_a_p___d_c_m.html#a8ba0327e56c9d591070b93a72216041a">AP_DCM::gyro_sat_count</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00056">56</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a175109cd6b70bc290a7779174a88b42a"></a><!-- doxytag: member="AP_DCM::pitch" ref="a175109cd6b70bc290a7779174a88b42a" args="" -->
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<td class="memname">float <a class="el" href="class_a_p___d_c_m.html#a175109cd6b70bc290a7779174a88b42a">AP_DCM::pitch</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00053">53</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="adf141fbe2398c902c2f1e400c265a1aa"></a><!-- doxytag: member="AP_DCM::pitch_sensor" ref="adf141fbe2398c902c2f1e400c265a1aa" args="" -->
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<td class="memname">long <a class="el" href="class_a_p___d_c_m.html#adf141fbe2398c902c2f1e400c265a1aa">AP_DCM::pitch_sensor</a></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00049">49</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="ae518c49e92751f43af3f1b7457254e13"></a><!-- doxytag: member="AP_DCM::renorm_blowup_count" ref="ae518c49e92751f43af3f1b7457254e13" args="" -->
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<td class="memname">uint8_t <a class="el" href="class_a_p___d_c_m.html#ae518c49e92751f43af3f1b7457254e13">AP_DCM::renorm_blowup_count</a></td>
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<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00058">58</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="ad724a2a16817d25dc95b16dc48f28ef4"></a><!-- doxytag: member="AP_DCM::renorm_sqrt_count" ref="ad724a2a16817d25dc95b16dc48f28ef4" args="" -->
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<td class="memname">uint8_t <a class="el" href="class_a_p___d_c_m.html#ad724a2a16817d25dc95b16dc48f28ef4">AP_DCM::renorm_sqrt_count</a></td>
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<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00057">57</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a9793adc8a62cbc21439aef2b19259a39"></a><!-- doxytag: member="AP_DCM::roll" ref="a9793adc8a62cbc21439aef2b19259a39" args="" -->
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<td class="memname">float <a class="el" href="class_a_p___d_c_m.html#a9793adc8a62cbc21439aef2b19259a39">AP_DCM::roll</a></td>
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<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00052">52</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a0bb05c5d94979b86aca523b9d924dcda"></a><!-- doxytag: member="AP_DCM::roll_sensor" ref="a0bb05c5d94979b86aca523b9d924dcda" args="" -->
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<td class="memname">long <a class="el" href="class_a_p___d_c_m.html#a0bb05c5d94979b86aca523b9d924dcda">AP_DCM::roll_sensor</a></td>
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<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00048">48</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="abddbee0f81d02d51ee91f57addedc266"></a><!-- doxytag: member="AP_DCM::yaw" ref="abddbee0f81d02d51ee91f57addedc266" args="" -->
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<td class="memname">float <a class="el" href="class_a_p___d_c_m.html#abddbee0f81d02d51ee91f57addedc266">AP_DCM::yaw</a></td>
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<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00054">54</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<a class="anchor" id="a9e24af31523858a17ddbd800f35ed25b"></a><!-- doxytag: member="AP_DCM::yaw_sensor" ref="a9e24af31523858a17ddbd800f35ed25b" args="" -->
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<td class="memname">long <a class="el" href="class_a_p___d_c_m.html#a9e24af31523858a17ddbd800f35ed25b">AP_DCM::yaw_sensor</a></td>
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<p>Definition at line <a class="el" href="_a_p___d_c_m_8h_source.html#l00050">50</a> of file <a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/jgoppert/Projects/ap/libraries/AP_DCM/<a class="el" href="_a_p___d_c_m_8h_source.html">AP_DCM.h</a></li>
<li>/home/jgoppert/Projects/ap/libraries/AP_DCM/<a class="el" href="_a_p___d_c_m_8cpp_source.html">AP_DCM.cpp</a></li>
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<hr class="footer"/><address class="footer"><small>Generated on Sun Dec 26 2010 21:58:35 for ArduPilot Libraries by&nbsp;
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.1 </small></address>
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