33 lines
839 B
C++
33 lines
839 B
C++
/**
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* @file inertialUtils.h
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*
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* @brief Utility functions for working with dynamic systems - derived from Mitch's matlab code
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* This is mostly just syntactic sugar for working with dynamic systems that use
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* Euler angles to specify the orientation of a robot.
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*
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* @date Nov 28, 2011
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/geometry/Rot3.h>
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namespace gtsam {
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namespace dynamics {
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/// RRTMbn - Function computes the rotation rate transformation matrix from
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/// body axis rates to euler angle (global) rates
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Matrix RRTMbn(const Vector& euler);
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Matrix RRTMbn(const Rot3& att);
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/// RRTMnb - Function computes the rotation rate transformation matrix from
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/// euler angle rates to body axis rates
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Matrix RRTMnb(const Vector& euler);
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Matrix RRTMnb(const Rot3& att);
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} // \namespace dynamics
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} // \namespace gtsam
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