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vlTaitBryan.h
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1 /*********************************************************************
2 ** Copyright (c) 1992-2010 VT MAK
3 ** All rights reserved.
4 *********************************************************************/
5 
6 #ifndef vlTaitBryan_H_
7 #define vlTaitBryan_H_
8 
12 
13 #include <vlutil/vlMachineTypes.h>
14 #include <matrix/vlMath.h>
15 #include "vlVector.h"
16 #include <iosfwd>
17 
18 #ifdef DtUSE_UTILITIES_NAMESPACE
19 namespace DtUSE_UTILITIES_NAMESPACE
20 {
21 #endif
22 
23 class DtQuaternion;
24 
43 class DT_DLL_MATRIX DtTaitBryan
44 {
45 public:
46 
48  DtTaitBryan();
49 
51  DtTaitBryan(double psi, double theta, double phi);
52 
54  DtTaitBryan(const DtTaitBryan &tait);
55 
59  DtTaitBryan(const DtQuaternion &quat);
60 
62  DtTaitBryan &operator=(const DtTaitBryan &tait);
63 
67  int operator==(const DtTaitBryan& other) const;
68 
72  int operator!=(const DtTaitBryan& other) const;
73 
75  DtString string() const;
76  void printDataToStream(std::ostream &str) const;
77 
81  DtFloat64 psi() const;
82  void setPsi(DtFloat64 psi);
84 
87  DtFloat64 theta() const;
88  void setTheta(DtFloat64 theta);
90 
93  DtFloat64 phi() const;
94  void setPhi(DtFloat64 phi);
96 
97 
98 protected:
99 
100  DtFloat64 myPsi;
101  DtFloat64 myTheta;
102  DtFloat64 myPhi;
103 };
104 
105 typedef double DtEParm[4];
106 
112 DT_DLL_MATRIX void DtEuler_to_BodyToRef(const DtTaitBryan &euler, DtDcm& body2ref);
114 DT_DLL_MATRIX v