Direction cosine matrix class. More...

#include <AxisAngle.hpp>

Inheritance diagram for matrix::Dcm< Type >:

Collaboration diagram for matrix::Dcm< Type >:

Public Types
typedef Matrix< Type, 3, 1 >	Vector3

Public Member Functions
	Dcm ()
	Standard constructor. More...

	Dcm (const Type data_[3][3])
	Constructor from array. More...

	Dcm (const Type data_[9])
	Constructor from array. More...

	Dcm (const Matrix< Type, 3, 3 > &other)
	Copy constructor. More...

	Dcm (const Quaternion< Type > &q)
	Constructor from quaternion. More...

	Dcm (const Euler< Type > &euler)
	Constructor from euler angles. More...

	Dcm (const AxisAngle< Type > &aa)
	Constructor from axis angle. More...

Vector< Type, 3 >	vee () const

void	renormalize ()

Public Member Functions inherited from matrix::SquareMatrix< Type, 3 >
	SquareMatrix ()=default

	SquareMatrix (const Type data_[M][M])

	SquareMatrix (const Type data_[M *M])

	SquareMatrix (const Matrix< Type, M, M > &other)

	SquareMatrix (const Slice< Type, M, M, P, Q > &in_slice)

SquareMatrix< Type, M > &	operator= (const Matrix< Type, M, M > &other)

SquareMatrix< Type, M > &	operator= (const Slice< Type, M, M, P, Q > &in_slice)

SquareMatrix< Type, M >	I () const

bool	I (SquareMatrix< Type, M > &i) const

Vector< Type, M >	diag () const

Vector< Type, M *(M+1)/2 >	upper_right_triangle () const

Type	trace () const

Public Member Functions inherited from matrix::Matrix< Type, M, M >
	Matrix ()=default

	Matrix (const Type data_[M *N])

	Matrix (const Type data_[M][N])

	Matrix (const Matrix &other)

	Matrix (const Slice< Type, M, N, P, Q > &in_slice)

Type	operator() (size_t i, size_t j) const
	Accessors/ Assignment etc. More...

Type &	operator() (size_t i, size_t j)

Matrix< Type, M, N > &	operator= (const Matrix< Type, M, N > &other)

void	copyTo (Type dst[M *N]) const

void	copyToColumnMajor (Type dst[M *N]) const

Matrix< Type, M, P >	operator* (const Matrix< Type, N, P > &other) const
	Matrix Operations. More...

Matrix< Type, M, N >	operator* (Type scalar) const
	Scalar Operations. More...

Matrix< Type, M, N >	emult (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	edivide (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	operator+ (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	operator+ (Type scalar) const

Matrix< Type, M, N >	operator- (const Matrix< Type, M, N > &other) const

Matrix< Type, M, N >	operator- () const

Matrix< Type, M, N >	operator- (Type scalar) const

void	operator+= (const Matrix< Type, M, N > &other)

void	operator+= (Type scalar)

void	operator-= (const Matrix< Type, M, N > &other)

void	operator-= (Type scalar)

void	operator*= (const Matrix< Type, N, P > &other)

void	operator*= (Type scalar)

Matrix< Type, M, N >	operator/ (Type scalar) const

void	operator/= (Type scalar)

bool	operator== (const Matrix< Type, M, N > &other) const

bool	operator!= (const Matrix< Type, M, N > &other) const

void	write_string (char *buf, size_t n) const
	Misc. More...

void	print (FILE *stream=stdout) const

Matrix< Type, N, M >	transpose () const

Matrix< Type, N, M >	T () const

const Slice< Type, P, Q, M, N >	slice (size_t x0, size_t y0) const

Slice< Type, P, Q, M, N >	slice (size_t x0, size_t y0)

const Slice< Type, 1, N, M, N >	row (size_t i) const

Slice< Type, 1, N, M, N >	row (size_t i)

const Slice< Type, M, 1, M, N >	col (size_t j) const

Slice< Type, M, 1, M, N >	col (size_t j)

void	setRow (size_t i, const Matrix< Type, N, 1 > &row_in)

void	setCol (size_t j, const Matrix< Type, M, 1 > &column)

void	setZero ()

void	zero ()

void	setAll (Type val)

void	setOne ()

void	setNaN ()

void	setIdentity ()

void	identity ()

void	swapRows (size_t a, size_t b)

void	swapCols (size_t a, size_t b)

Matrix< Type, M, N >	abs () const

Type	max () const

Type	min () const

bool	isAllNan () const

Detailed Description

template<typename Type>
class matrix::Dcm< Type >

Direction cosine matrix class.

The rotation between two coordinate frames is described by this class.

Definition at line 15 of file AxisAngle.hpp.

Member Typedef Documentation

◆ Vector3

template<typename Type>

typedef Matrix<Type, 3, 1> matrix::Dcm< Type >::Vector3

Definition at line 42 of file Dcm.hpp.

Constructor & Destructor Documentation

◆ Dcm() [1/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( )

inline

Standard constructor.

Initializes to identity

Definition at line 49 of file Dcm.hpp.

◆ Dcm() [2/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( const Type data_[3][3] )

inlineexplicit

Constructor from array.

Parameters

_data pointer to array

Definition at line 59 of file Dcm.hpp.

◆ Dcm() [3/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( const Type data_[9] )

inlineexplicit

Constructor from array.

Parameters

_data pointer to array

Definition at line 68 of file Dcm.hpp.

◆ Dcm() [4/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( const Matrix< Type, 3, 3 > & other )

inline

Copy constructor.

Parameters

other Matrix33 to set dcm to

Definition at line 77 of file Dcm.hpp.

◆ Dcm() [5/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( const Quaternion< Type > & q )

inline

Constructor from quaternion.

Instance is initialized from quaternion representing coordinate transformation from frame 2 to frame 1.

Parameters

q	quaternion to set dcm to

Definition at line 89 of file Dcm.hpp.

◆ Dcm() [6/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( const Euler< Type > & euler )

inline

Constructor from euler angles.

This sets the transformation matrix from frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.

Parameters

euler euler angle instance

Definition at line 126 of file Dcm.hpp.

◆ Dcm() [7/7]

template<typename Type>

matrix::Dcm< Type >::Dcm ( const AxisAngle< Type > & aa )

inline

Constructor from axis angle.

This sets the transformation matrix from frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.

Parameters

euler euler angle instance

Definition at line 159 of file Dcm.hpp.

Member Function Documentation

◆ renormalize()

template<typename Type>

void matrix::Dcm< Type >::renormalize ( )

inline

Definition at line 175 of file Dcm.hpp.

Referenced by MatrixTest::dcmRenormTests(), and main().

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◆ vee()

template<typename Type>

Vector<Type, 3> matrix::Dcm< Type >::vee ( ) const

inline

Definition at line 165 of file Dcm.hpp.

Referenced by main().

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The documentation for this class was generated from the following files:

src/lib/matrix/matrix/AxisAngle.hpp
src/lib/matrix/matrix/Dcm.hpp

Public Types

Public Member Functions

Detailed Description

template<typename Type> class matrix::Dcm< Type >

Member Typedef Documentation

◆ Vector3

Constructor & Destructor Documentation

◆ Dcm() [1/7]

◆ Dcm() [2/7]

◆ Dcm() [3/7]

◆ Dcm() [4/7]

◆ Dcm() [5/7]

◆ Dcm() [6/7]

◆ Dcm() [7/7]

Member Function Documentation

◆ renormalize()

◆ vee()

template<typename Type>
class matrix::Dcm< Type >