DUNE: Uniform Navigational Environment  2016.09.0
DUNE::Coordinates::BodyFixedFrame Class Reference

Detailed Description

Class with utility methods for body fixed frame conversions.

Static Public Member Functions

template<typename Ta , typename Tb , typename Tc >
static void toBodyFrame (Ta phi, Ta theta, Ta psi, Tb vx, Tb vy, Tb vz, Tc *u, Tc *v, Tc *w)
 
template<typename Ta , typename Tb , typename Tc >
static void toInertialFrame (Ta phi, Ta theta, Ta psi, Tb u, Tb v, Tb w, Tc *vx, Tc *vy, Tc *vz)
 

Member Function Documentation

template<typename Ta , typename Tb , typename Tc >
static void DUNE::Coordinates::BodyFixedFrame::toBodyFrame ( Ta  phi,
Ta  theta,
Ta  psi,
Tb  vx,
Tb  vy,
Tb  vz,
Tc *  u,
Tc *  v,
Tc *  w 
)
inlinestatic

Inertial to body frame conversion of linear velocities.

Given the angles of a body in respect to the reference axes (psi, theta, psi) and its inertial frame linear velocities (u_in,v_in,w_in) calculate the body fixed linear velocities (u,v,w).

Parameters
phipitch angle
thetaroll angle
psiyaw angle
vxlinear velocity in x-axis in the inertial frame
vylinear velocity in y-axis in the inertial frame
vzlinear velocity in z-axis in the inertial frame
uon return, linear velocity in x-axis in the body-fixed frame
von return, linear velocity in y-axis in the body-fixed frame
won return, linear velocity in z-axis in the body-fixed frame
template<typename Ta , typename Tb , typename Tc >
static void DUNE::Coordinates::BodyFixedFrame::toInertialFrame ( Ta  phi,
Ta  theta,
Ta  psi,
Tb  u,
Tb  v,
Tb  w,
Tc *  vx,
Tc *  vy,
Tc *  vz 
)
inlinestatic

Body to inertial frame conversion of linear velocities.

Given the angles of a body in respect to the reference axes (psi, theta, psi) and its body frame linear velocities (u,v,w) calculate the body fixed linear velocities (u_in,v_in,w_in)

Parameters
phipitch angle
thetaroll angle
psiyaw angle
ulinear velocity in x-axis in the body-fixed frame
vlinear velocity in y-axis in the body-fixed frame
wlinear velocity in z-axis in the inertial frame
vxon return, linear velocity in x-axis in the inertial frame
vyon return, linear velocity in y-axis in the inertial frame
vzon return, linear velocity in z-axis in the inertial frame

Referenced by DUNE::Navigation::BasicNavigation::onDispatchNavigation().

Collaboration diagram for DUNE::Coordinates::BodyFixedFrame:
Collaboration graph