Euler.hpp File Reference

All rotations and axis systems follow the right-hand rule. More...

#include "math.hpp"

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Classes
class	matrix::Dcm< Type >
	Direction cosine matrix class. More...
class	matrix::Quaternion< Type >
	Quaternion class. More...
class	matrix::Euler< Type >
	Euler angles class. More...

Namespaces
	matrix

Typedefs
typedef Euler< float >	matrix::Eulerf

Detailed Description

All rotations and axis systems follow the right-hand rule.

An instance of this class defines a rotation from coordinate frame 1 to coordinate frame 2. It follows the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence. In order to go from frame 1 to frame 2 we apply the following rotations consecutively. 1) We rotate about our initial Z axis by an angle of _psi. 2) We rotate about the newly created Y' axis by an angle of _theta. 3) We rotate about the newly created X'' axis by an angle of _phi.

Author

James Goppert james.nosp@m..gop.nosp@m.pert@.nosp@m.gmai.nosp@m.l.com

Definition in file Euler.hpp.