NumCpp  2.1.0
A C++ implementation of the Python Numpy library
DCM.hpp
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1 #pragma once
30 
31 #include "NumCpp/Functions/dot.hpp"
33 #include "NumCpp/Linalg/det.hpp"
34 #include "NumCpp/NdArray.hpp"
37 #include "NumCpp/Vector/Vec3.hpp"
38 
39 namespace nc
40 {
41  namespace rotations
42  {
43  //================================================================================
45  class DCM
46  {
47  public:
48  //============================================================================
49  // Method Description:
59  static NdArray<double> eulerAngles(double roll, double pitch, double yaw)
60  {
61  return Quaternion(roll, pitch, yaw).toDCM();
62  }
63 
64  //============================================================================
65  // Method Description:
74  {
75  return Quaternion(angles).toDCM();
76  }
77 
78  //============================================================================
79  // Method Description:
88  static NdArray<double> eulerAxisAngle(const NdArray<double>& inAxis, double inAngle)
89  {
90  return Quaternion(inAxis, inAngle).toDCM();
91  }
92 
93  //============================================================================
94  // Method Description:
103  static NdArray<double> eulerAxisAngle(const Vec3& inAxis, double inAngle)
104  {
105  return Quaternion(inAxis, inAngle).toDCM();
106  }
107 
108  //============================================================================
109  // Method Description:
118  static bool isValid(const NdArray<double>& inArray)
119  {
120  const Shape inShape = inArray.shape();
121  return inShape.rows == inShape.cols &&
122  utils::essentiallyEqual(round(linalg::det<double>(inArray), 2), 1.0) &&
123  utils::essentiallyEqual(round(linalg::det<double>(inArray.transpose()), 2), 1.0);
124  }
125 
126  //============================================================================
127  // Method Description:
133  static double roll(const NdArray<double>& dcm)
134  {
135  return Quaternion(dcm).roll();
136  }
137 
138  //============================================================================
139  // Method Description:
145  static double pitch(const NdArray<double>& dcm)
146  {
147  return Quaternion(dcm).pitch();
148  }
149 
150  //============================================================================
151  // Method Description:
157  static double yaw(const NdArray<double>& dcm)
158  {
159  return Quaternion(dcm).yaw();
160  }
161 
162  //============================================================================
163  // Method Description:
172  static NdArray<double> xRotation(double inAngle)
173  {
174  return DCM::eulerAxisAngle(Vec3{ 1.0, 0.0, 0.0 }, inAngle);
175  }
176 
177  //============================================================================
178  // Method Description:
187  static NdArray<double> yRotation(double inAngle)
188  {
189  return DCM::eulerAxisAngle(Vec3{ 0.0, 1.0, 0.0 }, inAngle);
190  }
191 
192  //============================================================================
193  // Method Description:
202  static NdArray<double> zRotation(double inAngle)
203  {
204  return DCM::eulerAxisAngle(Vec3{ 0.0, 0.0, 1.0 }, inAngle);
205  }
206  };
207  } // namespace rotations
208 } // namespace nc
nc::rotations::DCM::eulerAngles
static NdArray< double > eulerAngles(const NdArray< double > &angles)
Definition: DCM.hpp:73
nc::rotations::DCM::isValid
static bool isValid(const NdArray< double > &inArray)
Definition: DCM.hpp:118
nc::NdArray::shape
Shape shape() const noexcept
Definition: NdArrayCore.hpp:4312
nc::rotations::Quaternion
Holds a unit quaternion.
Definition: Quaternion.hpp:58
nc::rotations::DCM::eulerAxisAngle
static NdArray< double > eulerAxisAngle(const NdArray< double > &inAxis, double inAngle)
Definition: DCM.hpp:88
nc::rotations::Quaternion::pitch
double pitch() const noexcept
Definition: Quaternion.hpp:343
nc::rotations::Quaternion::toDCM
NdArray< double > toDCM() const
Definition: Quaternion.hpp:506
nc::utils::essentiallyEqual
bool essentiallyEqual(dtype inValue1, dtype inValue2) noexcept
Definition: essentiallyEqual.hpp:53
nc::rotations::Quaternion::yaw
double yaw() const noexcept
Definition: Quaternion.hpp:567
nc::rotations::DCM::xRotation
static NdArray< double > xRotation(double inAngle)
Definition: DCM.hpp:172
nc::rotations::DCM::pitch
static double pitch(const NdArray< double > &dcm)
Definition: DCM.hpp:145
nc::rotations::Quaternion::roll
double roll() const noexcept
Definition: Quaternion.hpp:363
Quaternion.hpp
nc::NdArray::transpose
NdArray< dtype > transpose() const
Definition: NdArrayCore.hpp:4608
nc::NdArray< double >
NdArray.hpp
dot.hpp
Vec3.hpp
nc::Shape
A Shape Class for NdArrays.
Definition: Core/Shape.hpp:41
nc::Shape::cols
uint32 cols
Definition: Core/Shape.hpp:46
nc::rotations::DCM
Factory methods for generating direction cosine matrices and vectors.
Definition: DCM.hpp:45
nc::rotations::DCM::yRotation
static NdArray< double > yRotation(double inAngle)
Definition: DCM.hpp:187
nc::rotations::DCM::zRotation
static NdArray< double > zRotation(double inAngle)
Definition: DCM.hpp:202
nc
Definition: Coordinate.hpp:45
det.hpp
nc::Shape::rows
uint32 rows
Definition: Core/Shape.hpp:45
essentiallyEqual.hpp
nc::round
dtype round(dtype inValue, uint8 inDecimals=0)
Definition: round.hpp:47
nc::rotations::DCM::yaw
static double yaw(const NdArray< double > &dcm)
Definition: DCM.hpp:157
nc::rotations::DCM::eulerAxisAngle
static NdArray< double > eulerAxisAngle(const Vec3 &inAxis, double inAngle)
Definition: DCM.hpp:103
nc::Vec3
Holds a 3D vector.
Definition: Vec3.hpp:50
nc::rotations::DCM::eulerAngles
static NdArray< double > eulerAngles(double roll, double pitch, double yaw)
Definition: DCM.hpp:59
nc::rotations::DCM::roll
static double roll(const NdArray< double > &dcm)
Definition: DCM.hpp:133
round.hpp