This file declares DtDcm and several helper classes and functions. More...

Classes
class	DtDcm
	DtDcms are used to represent orientation for an object. More...

Macros
#define	vlDcm_inl
	include all inlined methods More...

Typedefs
typedef DtVector32	DtBodyRates
	Angular rotation about body X, Y, Z axes. More...

typedef const DtDcm &	DtConstDcm
	This typedef is deprecated, please do not use. More...

typedef DtDcm &	DtDcmRef
	This typedef is deprecated, please do not use. More...

Enumerations
enum	generic_mm_multflag { TRANSPOSE_NONE = 0, TRANSPOSE_M1 = 1, TRANSPOSE_M2 = 2, TRANSPOSE_M1_AND_M2 = 3 }
	Generic DcmDcm Multiply routine. More...

Functions
void	DtDcmDcmRotAxis (const DtDcm &a2ref, const DtDcm &b2ref, DtVector &n)
	Direction Cosine Matrix routines. More...

void	DtDcmDcmRotAxis (const DtDcm &a2ref, const DtDcm &b2ref, DtVector32 &n)

void	DtDcmIdentInit (DtDcm &m)

void	DtDcmFixMatrix (DtDcm &mat, int axis)
	make orthonormal, pick most important. axis More...

double	DtDcmDeterminant (const DtDcm &m)

void	DtDcmAdd (const DtDcm &m1, const DtDcm &m2, DtDcm &result)

void	DtDcmSub (const DtDcm &m1, const DtDcm &m2, DtDcm &result)

void	DtDcmDcmMul (const DtDcm &m1, const DtDcm &m2, DtDcm &result)

void	DtDcmTranspose (const DtDcm &m, DtDcm &result)

void	DtDcmAdjugate (const DtDcm &m, DtDcm &result)

void	DtDcmInverse (const DtDcm &m, DtDcm &result)

double	DtDcmDcmRotAngle (const DtDcm &a, const DtDcm &b, double precision=1e-12)

void	DtM_Init (const DtDcm &input, DtDcm &result, int flag)
	Generic initialize matrix routines. More...

void	DtSetSym (DtDcm &v, double aa, double ab, double ac, double bb, double bc, double cc)

void	DtCreateCross (const DtVector &r, DtDcm &ans)

void	DtCreateCross (const DtVector32 &r, DtDcm &ans)

void	DtM (const DtVector &v, DtDcm &m)

void	DtM (const DtVector32 &v, DtDcm &m)

void	DtRotate (DtDcm &ans, const DtVector &direction, double theta)

void	DtRotate (DtDcm &ans, const DtVector32 &direction, double theta)

void	DtDcmScale (const DtDcm &mat, double scale_factor, DtDcm &result)
	Scales a DtDcm. More...

void	DtDcmVecMul (const DtDcm &m, const DtVector &v, DtVector &result)

void	DtDcmVecMul (const DtDcm &m, const DtVector32 &v, DtVector32 &result)

void	DtDcmRotInit (DtDcm &m, double theta, int rot_axis)
	Initialize a DtDcm to be a rotation DtDcm. More...

void	DtDcmRotInit2 (DtDcm &m, double sin_theta, int rot_axis)
	Initializes a DtDcm to be a rotation DtDcm. More...

void	DtDcmTrigInit (DtDcm &m, double sin_theta, double cos_theta, int rot_axis)
	Initializes a DtDcm to be a rotation DtDcm. More...

void	DtDcmForm (const double axis, double angle, DtDcm &c, double sin_ang, double *cos_ang)

void	DtTbToMat (const DtTaitBryan &tb, DtDcm &HcW)
	Convert a TaitBryan to a DtDcm. More...

void	DtDcmLevelInit (DtDcm &m, const DtVector &v)
	Takes a normalized vector and forms a DtDcm which will transform from a coordinate system whose Y axis is the input vector and whose X axis is parallel to the ground to the coordinate system the input vector is expressed in. More...

void	DtDcmLevelInit (DtDcm &m, const DtVector32 &v)

void	DtBodyToMat (DtBodyRates av, const DtDcm &HcW, DtDcm &cDot)
	Convert Body Rates to DCM. More...

DtDirectedRotRate	DtDirectRotRate (const DtVector &pqr)
	Directed rotation rates. More...

DtDirectedRotRate	DtDirectRotRate (const DtVector32 &pqr)

void	DtMakeRotationDcm (const DtDirectedRotRate &drr, double dt, DtDcm &m)

double	DtDcmDcmRotTrace (const DtDcm &a, const DtDcm &b)
	Returns the trace of the rotation DtDcm, R, between between matrices A and B. More...

double	DtMM_Mult (const DtDcm &m1, const DtDcm &m2, DtDcm &result, generic_mm_multflag flag=TRANSPOSE_NONE)

void	DtDcmDump (const char *str, const DtDcm &mat)
	This function is deprecated, please use DtDcm.print() More...

void	DtDcmFromQuaternion (DtDcm &m, const DtQuaternion *q)
	This function is deprecated, please use DtDcm::(const DtQuaternion&q) instead. More...

int	DtDcmCheck (const DtDcm &m)
	This method is deprecated, please use DtDcm::isOrthonormal. More...

void	DtDcmCopy (const DtDcm &src, DtDcm &dest)
	This method is deprecated, please use the copy ctor, or assignment operator for DtDcm. More...

void	DtDcmInit (DtDcm &m)
	This method is deprecated, please use dcm.setToZero() More...

Detailed Description

This file declares DtDcm and several helper classes and functions.

Macro Definition Documentation

#define vlDcm_inl

include all inlined methods

Typedef Documentation

typedef DtVector32 DtBodyRates

Angular rotation about body X, Y, Z axes.

typedef const DtDcm& DtConstDcm

This typedef is deprecated, please do not use.

typedef DtDcm& DtDcmRef

This typedef is deprecated, please do not use.

Enumeration Type Documentation

enum generic_mm_multflag

Generic DcmDcm Multiply routine.

Enumerator
TRANSPOSE_NONE
TRANSPOSE_M1
TRANSPOSE_M2
TRANSPOSE_M1_AND_M2

Function Documentation

void DtBodyToMat	(	DtBodyRates	av,
		const DtDcm &	HcW,
		DtDcm &	cDot
	)

Convert Body Rates to DCM.

Body rates p,q,r are about X,Y,Z respectively. They are expected in radians per second. Direction Cosine matrix; From Hull to World

void DtCreateCross	(	const DtVector &	r,
		DtDcm &	ans
	)

void DtCreateCross	(	const DtVector32 &	r,
		DtDcm &	ans
	)

void DtDcmAdd	(	const DtDcm &	m1,
		const DtDcm &	m2,
		DtDcm &	result
	)

void DtDcmAdjugate	(	const DtDcm &	m,
		DtDcm &	result
	)

int DtDcmCheck ( const DtDcm & m )

This method is deprecated, please use DtDcm::isOrthonormal.

void DtDcmCopy	(	const DtDcm &	src,
		DtDcm &	dest
	)

This method is deprecated, please use the copy ctor, or assignment operator for DtDcm.

void DtDcmDcmMul	(	const DtDcm &	m1,
		const DtDcm &	m2,
		DtDcm &	result
	)

double DtDcmDcmRotAngle	(	const DtDcm &	a,
		const DtDcm &	b,
		double	precision = `1e-12`
	)

void DtDcmDcmRotAxis	(	const DtDcm &	a2ref,
		const DtDcm &	b2ref,
		DtVector &	n
	)

Direction Cosine Matrix routines.

void DtDcmDcmRotAxis	(	const DtDcm &	a2ref,
		const DtDcm &	b2ref,
		DtVector32 &	n
	)

double DtDcmDcmRotTrace	(	const DtDcm &	a,
		const DtDcm &	b
	)

Returns the trace of the rotation DtDcm, R, between between matrices A and B.

If A is a DCM between frame body and world, and B is that same frame rotated through angle theta about an arbitrary axis, then trace of R [where B = A * R, or R = inv(A) * B] is 2 * cos(theta) + 1.

double DtDcmDeterminant ( const DtDcm & m )

void DtDcmDump	(	const char *	str,
		const DtDcm &	mat
	)

This function is deprecated, please use DtDcm.print()

void DtDcmFixMatrix	(	DtDcm &	mat,
		int	axis
	)

make orthonormal, pick most important. axis

void DtDcmForm	(	const double *	axis,
		double	angle,
		DtDcm &	c,
		double *	sin_ang,
		double *	cos_ang
	)

Parameters

sin_ang	is modified
cos_ang	is modified

void DtDcmFromQuaternion	(	DtDcm &	m,
		const DtQuaternion *	q
	)

This function is deprecated, please use DtDcm::(const DtQuaternion&q) instead.

void DtDcmIdentInit ( DtDcm & m )

void DtDcmInit ( DtDcm & m )

This method is deprecated, please use dcm.setToZero()

void DtDcmInverse	(	const DtDcm &	m,
		DtDcm &	result
	)

void DtDcmLevelInit	(	DtDcm &	m,
		const DtVector &	v
	)

Takes a normalized vector and forms a DtDcm which will transform from a coordinate system whose Y axis is the input vector and whose X axis is parallel to the ground to the coordinate system the input vector is expressed in.

void DtDcmLevelInit	(	DtDcm &	m,
		const DtVector32 &	v
	)

void DtDcmRotInit	(	DtDcm &	m,
		double	theta,
		int	rot_axis
	)

Initialize a DtDcm to be a rotation DtDcm.

Rotation is counterclockwise when viewed along a positive axis.

void DtDcmRotInit2	(	DtDcm &	m,
		double	sin_theta,
		int	rot_axis
	)

Initializes a DtDcm to be a rotation DtDcm.

Rotation is counterclockwise when viewed along a positive axis. The sine of the angle is given, instead of the angle itself.

void DtDcmScale	(	const DtDcm &	mat,
		double	scale_factor,
		DtDcm &	result
	)

Scales a DtDcm.

void DtDcmSub	(	const DtDcm &	m1,
		const DtDcm &	m2,
		DtDcm &	result
	)

void DtDcmTranspose	(	const DtDcm &	m,
		DtDcm &	result
	)

void DtDcmTrigInit	(	DtDcm &	m,
		double	sin_theta,
		double	cos_theta,
		int	rot_axis
	)

Initializes a DtDcm to be a rotation DtDcm.

Rotation is counterclockwise when viewed along a positive axis. The sine of the angle is given, instead of the angle itself.

void DtDcmVecMul	(	const DtDcm &	m,
		const DtVector &	v,
		DtVector &	result
	)

void DtDcmVecMul	(	const DtDcm &	m,
		const DtVector32 &	v,
		DtVector32 &	result
	)

DtDirectedRotRate DtDirectRotRate ( const DtVector & pqr )

Directed rotation rates.

DtDirectedRotRate DtDirectRotRate ( const DtVector32 & pqr )

void DtM	(	const DtVector &	v,
		DtDcm &	m
	)

void DtM	(	const DtVector32 &	v,
		DtDcm &	m
	)

void DtM_Init	(	const DtDcm &	input,
		DtDcm &	result,
		int	flag
	)

Generic initialize matrix routines.

void DtMakeRotationDcm	(	const DtDirectedRotRate &	drr,
		double	dt,
		DtDcm &	m
	)

double DtMM_Mult	(	const DtDcm &	m1,
		const DtDcm &	m2,
		DtDcm &	result,
		generic_mm_multflag	flag = `TRANSPOSE_NONE`
	)

void DtRotate	(	DtDcm &	ans,
		const DtVector &	direction,
		double	theta
	)

void DtRotate	(	DtDcm &	ans,
		const DtVector32 &	direction,
		double	theta
	)

void DtSetSym	(	DtDcm &	v,
		double	aa,
		double	ab,
		double	ac,
		double	bb,
		double	bc,
		double	cc
	)

void DtTbToMat	(	const DtTaitBryan &	tb,
		DtDcm &	HcW
	)

Convert a TaitBryan to a DtDcm.

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation