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

phi	pitch angle
theta	roll angle
psi	yaw angle
vx	linear velocity in x-axis in the inertial frame
vy	linear velocity in y-axis in the inertial frame
vz	linear velocity in z-axis in the inertial frame
u	on return, linear velocity in x-axis in the body-fixed frame
v	on return, linear velocity in y-axis in the body-fixed frame
w	on 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

phi	pitch angle
theta	roll angle
psi	yaw angle
u	linear velocity in x-axis in the body-fixed frame
v	linear velocity in y-axis in the body-fixed frame
w	linear velocity in z-axis in the inertial frame
vx	on return, linear velocity in x-axis in the inertial frame
vy	on return, linear velocity in y-axis in the inertial frame
vz	on return, linear velocity in z-axis in the inertial frame

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

Collaboration diagram for DUNE::Coordinates::BodyFixedFrame: