PX4 Firmware
PX4 Autopilot Software http://px4.io
hatvee.cpp
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#include "
test_macros.hpp
"
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#include <
matrix/math.hpp
>
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using namespace
matrix
;
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int
main
()
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{
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Euler<float>
euler(0.1
f
, 0.2
f
, 0.3
f
);
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Dcm<float>
R(euler);
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Dcm<float>
skew = R - R.
T
();
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Vector3<float>
w = skew.
vee
();
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Vector3<float>
w_check(0.1348
f
, 0.4170
f
, 0.5647
f
);
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TEST
(
isEqual
(w, w_check));
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TEST
(
isEqual
(skew, w.
hat
()));
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return
0;
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}
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/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
matrix::Matrix::T
Matrix< Type, N, M > T() const
Definition:
Matrix.hpp:368
matrix::Dcm< float >
main
int main()
Definition:
hatvee.cpp:6
matrix::Vector3
Definition:
Vector3.hpp:29
matrix
Definition:
AxisAngle.hpp:11
matrix::Dcm::vee
Vector< Type, 3 > vee() const
Definition:
Dcm.hpp:165
math.hpp
matrix::isEqual
bool isEqual(const Matrix< Type, M, N > &x, const Matrix< Type, M, N > &y, const Type eps=1e-4f)
Definition:
Matrix.hpp:571
f
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
Definition:
integration.cpp:8
matrix::Euler
Euler angles class.
Definition:
AxisAngle.hpp:18
test_macros.hpp
TEST
#define TEST(X)
Definition:
test_macros.hpp:14
matrix::Vector3::hat
Dcm< Type > hat() const
Definition:
Vector3.hpp:119
src
lib
matrix
test
hatvee.cpp
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