forked from Archive/PX4-Autopilot
matrix: add 2d rotation matrix
This commit is contained in:
parent
c74322fc15
commit
37d3218d11
|
@ -0,0 +1,127 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file Dcm2.hpp
|
||||
*
|
||||
* A givens rotation matrix 2x2.
|
||||
* All rotations and axis systems follow the right-hand rule.
|
||||
*
|
||||
* This library uses the convention that premultiplying a two dimensional
|
||||
* vector represented in coordinate system 1 will apply a rotation from coordinate system
|
||||
* 1 to coordinate system 2 to the vector.
|
||||
* Likewise, a matrix instance of this class also represents a coordinate transformation
|
||||
* from frame 2 to frame 1.
|
||||
*
|
||||
* @author Matthias Grob <maetugr@gmail.com>
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "math.hpp"
|
||||
|
||||
namespace matrix
|
||||
{
|
||||
|
||||
template<typename Type>
|
||||
class Dcm2 : public SquareMatrix<Type, 2>
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Standard constructor
|
||||
*
|
||||
* Initializes to identity
|
||||
*/
|
||||
Dcm2() : SquareMatrix<Type, 2>(eye<Type, 2>()) {}
|
||||
|
||||
/**
|
||||
* Constructor from array
|
||||
*
|
||||
* @param _data pointer to array
|
||||
*/
|
||||
explicit Dcm2(const Type data_[2][2]) : SquareMatrix<Type, 2>(data_)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructor from array
|
||||
*
|
||||
* @param _data pointer to array
|
||||
*/
|
||||
explicit Dcm2(const Type data_[4]) : SquareMatrix<Type, 2>(data_)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* Copy constructor
|
||||
*
|
||||
* @param other Matrix22 to set dcm to
|
||||
*/
|
||||
Dcm2(const Matrix<Type, 2, 2> &other) : SquareMatrix<Type, 2>(other)
|
||||
{
|
||||
}
|
||||
|
||||
/**
|
||||
* Constructor from an angle
|
||||
*
|
||||
* This sets the transformation matrix from frame 2 to frame 1 where the rotation
|
||||
* from frame 1 to frame 2 is described by an angle in radians.
|
||||
*
|
||||
* @param angle from frame 1 to frame 2 in radians
|
||||
*/
|
||||
Dcm2(const Type angle)
|
||||
{
|
||||
Dcm2 &dcm = *this;
|
||||
Type sin_angle = sin(angle);
|
||||
Type cos_angle = cos(angle);
|
||||
|
||||
dcm(0, 0) = cos_angle;
|
||||
dcm(0, 1) = -sin_angle;
|
||||
dcm(1, 0) = sin_angle;
|
||||
dcm(1, 1) = cos_angle;
|
||||
}
|
||||
|
||||
void renormalize()
|
||||
{
|
||||
/* renormalize rows */
|
||||
for (size_t r = 0; r < 2; r++) {
|
||||
matrix::Vector2<Type> rvec(Matrix<Type, 1, 2>(this->Matrix<Type, 2, 2>::row(r)).transpose());
|
||||
this->Matrix<Type, 2, 2>::row(r) = rvec.normalized();
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
using Dcm2f = Dcm2<float>;
|
||||
using Dcm2d = Dcm2<double>;
|
||||
|
||||
} // namespace matrix
|
|
@ -14,6 +14,7 @@
|
|||
#include "Vector4.hpp"
|
||||
#include "Euler.hpp"
|
||||
#include "Dcm.hpp"
|
||||
#include "Dcm2.hpp"
|
||||
#include "Scalar.hpp"
|
||||
#include "Quaternion.hpp"
|
||||
#include "AxisAngle.hpp"
|
||||
|
|
|
@ -6,6 +6,7 @@ add_compile_options(
|
|||
px4_add_unit_gtest(SRC MatrixAssignmentTest.cpp)
|
||||
px4_add_unit_gtest(SRC MatrixAttitudeTest.cpp)
|
||||
px4_add_unit_gtest(SRC MatrixCopyToTest.cpp)
|
||||
px4_add_unit_gtest(SRC MatrixDcm2Test.cpp)
|
||||
px4_add_unit_gtest(SRC MatrixDualTest.cpp)
|
||||
px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
|
||||
px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
|
||||
|
|
|
@ -0,0 +1,75 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
#include <matrix/Dcm.hpp>
|
||||
#include <matrix/Dcm2.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
TEST(MatrixDcm2Test, CompareToDcm)
|
||||
{
|
||||
// 2D matrix and 3D matrix rotating around yaw are equivalent
|
||||
Dcm2f R2(1.f);
|
||||
Dcmf R3(Eulerf(0.f, 0.f, 1.f));
|
||||
EXPECT_EQ(Dcm2f(R3.slice<2, 2>(0, 0)), R2);
|
||||
|
||||
// Rotating a 2D and a 3D vector respectively is equivalent
|
||||
Vector2f v2(1.f, 2.f);
|
||||
Vector3f v3(v2(0), v2(1), 0.f);
|
||||
Vector2f result2 = R2 * v2;
|
||||
Vector3f result3 = R3 * v3;
|
||||
EXPECT_EQ(Vector2f(result2), result2);
|
||||
EXPECT_EQ(result2, result3.xy());
|
||||
}
|
||||
|
||||
TEST(MatrixDcm2Test, 45DegreeRotation)
|
||||
{
|
||||
Vector2f v(1.0f, 0.0f);
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(1.f, 1.f) * (sqrt(2) / 2));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(0.f, 1.f));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(-1.f, 1.f) * (sqrt(2) / 2));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(-1.f, 0.f));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(-1.f, -1.f) * (sqrt(2) / 2));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(0.f, -1.f));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(1.f, -1.f) * (sqrt(2) / 2));
|
||||
v = Dcm2f(M_PI / 4.f) * v;
|
||||
EXPECT_EQ(v, Vector2f(1.f, 0.f));
|
||||
}
|
Loading…
Reference in New Issue