vlTaitBryan.h

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/*********************************************************************
** Copyright (c) 1992-2010 MAK Technologies, Inc
** All rights reserved.
*********************************************************************/

#ifndef vlTaitBryan_H_
#define vlTaitBryan_H_


#include <vlutil/vlMachineTypes.h>
#include <matrix/vlMath.h>
#include "vlVector.h"
#include <iosfwd>

#ifdef DtUSE_UTILITIES_NAMESPACE
namespace DtUSE_UTILITIES_NAMESPACE
{
#endif

class DtQuaternion;

class DT_DLL_MATRIX DtTaitBryan
{
public:

   DtTaitBryan();

   DtTaitBryan(double psi, double theta, double phi);

   DtTaitBryan(const DtTaitBryan &tait);

   DtTaitBryan(const DtQuaternion &quat);

   DtTaitBryan &operator=(const DtTaitBryan &tait);

   int operator==(const DtTaitBryan& other) const;

   int operator!=(const DtTaitBryan& other) const;

   DtString string() const;
   void printDataToStream(std::ostream &str) const;
   
   DtFloat64 psi() const;
   void setPsi(DtFloat64 psi);
  
   DtFloat64 theta() const;
   void setTheta(DtFloat64 theta);

   DtFloat64 phi() const;
   void setPhi(DtFloat64 phi);
   

protected:

   DtFloat64 myPsi;     
   DtFloat64 myTheta;      
   DtFloat64 myPhi;     
};

typedef double DtEParm[4];

DT_DLL_MATRIX void DtEuler_to_BodyToRef(const DtTaitBryan &euler, DtDcm& body2ref);
DT_DLL_MATRIX void DtEuler_to_RefToBody(const DtTaitBryan &euler, DtDcm& ref2body);

DT_DLL_MATRIX void DtBodyToRef_to_Euler(const DtDcm& body2ref, DtTaitBryan *euler);
DT_DLL_MATRIX void DtRefToBody_to_Euler(const DtDcm& ref2body, DtTaitBryan *euler);

DT_DLL_MATRIX void DtEulerToEuler(const DtTaitBryan &in, 
          const DtDcm& in2out, 
          DtTaitBryan *out);

DT_DLL_MATRIX std::ostream & operator << (std::ostream &str, const DtTaitBryan &sr);

#define vlTaitBryan_inl
#include "vlTaitBryan.inl"
#undef vlTaitBryan_inl

#ifdef DtUSE_UTILITIES_NAMESPACE
}
#endif

#endif