EECFI::LibFunc Namespace Reference

Namespace for functions that do not belong to any Lib class. More...

Functions
XL_DECL void	eulerToMatrix (double eulerAngles[3], double matrix[3][3])
	Get rotation matrix from Euler angles.
XL_DECL void	matrixToEuler (double matrix[3][3], double eulerAngles[3])
	Get Euler angles from rotation matrix.
XL_DECL void	getRotationAngles (double xsInit[3], double ysInit[3], double zsInit[3], double xsFin[3], double ysFin[3], double zsFin[3], double angle[3])
	Get rotation angles between two sets of orthonormal right-handed unit vectors.
XL_DECL void	getRotatedVectors (double xsInit[3], double ysInit[3], double zsInit[3], double angle[3], double xsFin[3], double ysFin[3], double zsFin[3])
	Rotate a set of unit angle vectors.
XL_DECL void	quaternionsToVectors (double quaternions[4], double uxVec[3], double uyVec[3], double uzVec[3])
	Change from quaternions to vectors.
XL_DECL void	vectorsToQuaternions (double uxVec[3], double uyVec[3], double uzVec[3], double quaternions[4])
	Change form vectors to quaternions.
XL_DECL void	quaternionsInterpol (const QuaternionsInterpolationCfg &cfg, double time_1, double q1[4], double time_2, double q2[4], double time_out, double q_out[4])
	The method performs, given 2 input quaternions q1 and q2, an interpolation for the requested time, obtaining the interpolated quaternion as output.
XL_DECL void	setVerbose ()
	Activate verbosity for Lib library.
XL_DECL void	setSilent ()
	Deactivate verbosity for Lib library.

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Detailed Description

Namespace for functions that do not belong to any Lib class.

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Function Documentation

void EECFI::LibFunc::eulerToMatrix	(	double	eulerAngles[3],
		double	matrix[3][3]
	)

Get rotation matrix from Euler angles.

Parameters:

	eulerAngles	Euler angles.
	matrix	[OUTPUT] Rotation matrix.

void EECFI::LibFunc::getRotatedVectors	(	double	xsInit[3],
		double	ysInit[3],
		double	zsInit[3],
		double	angle[3],
		double	xsFin[3],
		double	ysFin[3],
		double	zsFin[3]
	)

Rotate a set of unit angle vectors.

Parameters:

	xsInit	Unitary direction vector along the X-axes of the initial attitude frame.
	ysInit	Unitary direction vector along the Y-axes of the initial attitude frame.
	zsInit	Unitary direction vector along the Z-axes of the initial attitude frame.
	angle	Angles (pitch, roll and yaw) between initial and final Attitude Frames (deg [-180,180)).
	xsFin	[OUTPUT] Unitary direction vector along the X-axes of the final attitude frame.
	ysFin	[OUTPUT] Unitary direction vector along the Y-axes of the final attitude frame.
	zsFin	[OUTPUT] Unitary direction vector along the Z-axes of the final attitude frame.

void EECFI::LibFunc::getRotationAngles	(	double	xsInit[3],
		double	ysInit[3],
		double	zsInit[3],
		double	xsFin[3],
		double	ysFin[3],
		double	zsFin[3],
		double	angle[3]
	)

Get rotation angles between two sets of orthonormal right-handed unit vectors.

Parameters:

	xsInit	Unitary direction vector along the X-axes of the initial attitude frame.
	ysInit	Unitary direction vector along the Y-axes of the initial attitude frame.
	zsInit	Unitary direction vector along the Z-axes of the initial attitude frame.
	xsFin	Unitary direction vector along the X-axes of the final attitude frame.
	ysFin	Unitary direction vector along the Y-axes of the final attitude frame.
	zsFin	Unitary direction vector along the Z-axes of the final attitude frame.
	angle	[OUTPUT] Angles (pitch, roll and yaw) between initial and final Attitude Frames (deg [-180,180)).

void EECFI::LibFunc::matrixToEuler	(	double	matrix[3][3],
		double	eulerAngles[3]
	)

Get Euler angles from rotation matrix.

Parameters:

	matrix	Rotation matrix.
	eulerAngles	[OUTPUT] Euler angles.

void EECFI::LibFunc::quaternionsInterpol	(	const QuaternionsInterpolationCfg &	cfg,
		double	time_1,
		double	q1[4],
		double	time_2,
		double	q2[4],
		double	time_out,
		double	q_out[4]
	)

The method performs, given 2 input quaternions q1 and q2, an interpolation for the requested time, obtaining the interpolated quaternion as output.

Notes:

• The algorithm to be used for interpolation is given as input in QuaternionsInterpolationCfg structure.
• Currently the supported algorithms are:
  • Slerp (see details: Slerp)
• If the requested time is out of the interval defined by the input quaternions, then extrapolation is used and a warning is raised. The extrapolation degrades with the distance to the interval defined by input quaternions. In the following table the degradation for some time distances are shown:

  Time out of interval [seconds]	Error in rotation angles [deg] (Quaternions time step 1 second)	Error in rotation angles [deg] (Quaternions time step 10 seconds)
  1	0.000005	0.00005
  10	0.0003	0.0005
  100	0.06	0.07
  500	0.96	0.95
  1000	2.3	2.3

Parameters:

	cfg	Configuration parameters used by interpolation.
	t1	Time for quaternion q1.
	q1	First quaternion (for time t1).
	t2	Time for quaternion q2.
	q2	Second quaternion (for time t2).
	t	Time interpolation parameter.
	q	[OUTPUT] Result of quaternion interpolation.

References EECFI::QuaternionsInterpolationCfg::algo.

void EECFI::LibFunc::quaternionsToVectors	(	double	quaternions[4],
		double	uxVec[3],
		double	uyVec[3],
		double	uzVec[3]
	)

Change from quaternions to vectors.

Parameters:

	quaternions	Input quaternion vector.
	uxVec	[OUTPUT] Unitary direction vector along the X-axes.
	uyVec	[OUTPUT] Unitary direction vector along the Y-axes.
	uzVec	[OUTPUT] Unitary direction vector along the Z-axes.

void EECFI::LibFunc::setSilent

(

)

Deactivate verbosity for Lib library.

void EECFI::LibFunc::setVerbose

(

)

Activate verbosity for Lib library.

void EECFI::LibFunc::vectorsToQuaternions	(	double	uxVec[3],
		double	uyVec[3],
		double	uzVec[3],
		double	quaternions[4]
	)

Change form vectors to quaternions.

Parameters:

	uxVec	Unitary direction vector along the X-axes.
	uyVec	Unitary direction vector along the Y-axes.
	uzVec	Unitary direction vector along the Z-axes.
	quaternions	[OUTPUT] Input quaternion vector.