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<div class="title">attitude.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="preprocessor">#ifndef _VNMATH_ATTITUDE_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define _VNMATH_ATTITUDE_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;</div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="vector_8h.html">vector.h</a>&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="matrix_8h.html">matrix.h</a>&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &quot;export.h&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;</div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacevn.html">vn</a> {</div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="keyword">namespace </span>math {</div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;</div>
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classvn_1_1math_1_1_attitude_f.html"> 12</a></span>&#160;<span class="keyword">class </span>vn_proglib_DLLEXPORT <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;{</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160; <span class="keyword">enum</span> AttitudeType</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160; {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; ATT_YprRads,</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160; ATT_YprDegs,</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; ATT_Quat,</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; ATT_Dcm</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; };</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; <span class="keyword">static</span> <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a> noRotation();</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keyword">static</span> <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a> fromQuat(<a class="code" href="structvn_1_1math_1_1vec.html">vec4f</a> quat);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="keyword">static</span> <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a> fromYprInDegs(<a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> yprInDegs);</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="keyword">static</span> <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a> fromYprInRads(<a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> yprInRads);</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keyword">static</span> <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a> fromDcm(<a class="code" href="structvn_1_1math_1_1mat.html">mat3f</a> dcm);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="comment">// TEMP</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a>() { }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <a class="code" href="classvn_1_1math_1_1_attitude_f.html">AttitudeF</a>(AttitudeType type, <span class="keywordtype">void</span>* attitude);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> yprInDegs();</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> yprInRads();</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <a class="code" href="structvn_1_1math_1_1vec.html">vec4f</a> quat();</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <a class="code" href="structvn_1_1math_1_1mat.html">mat3f</a> dcm();</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; AttitudeType _underlyingType;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; uint8_t _data[<span class="keyword">sizeof</span>(<a class="code" href="structvn_1_1math_1_1mat.html">mat3f</a>)];</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;};</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;}</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="structvn_1_1math_1_1vec_html"><div class="ttname"><a href="structvn_1_1math_1_1vec.html">vn::math::vec</a></div><div class="ttdoc">Template for a Euclidean vector. </div><div class="ttdef"><b>Definition:</b> vector.h:22</div></div>
<div class="ttc" id="structvn_1_1math_1_1mat_html"><div class="ttname"><a href="structvn_1_1math_1_1mat.html">vn::math::mat</a></div><div class="ttdoc">Template for a matrix. </div><div class="ttdef"><b>Definition:</b> matrix.h:20</div></div>
<div class="ttc" id="matrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div></div>
<div class="ttc" id="vector_8h_html"><div class="ttname"><a href="vector_8h.html">vector.h</a></div></div>
<div class="ttc" id="namespacevn_html"><div class="ttname"><a href="namespacevn.html">vn</a></div><div class="ttdef"><b>Definition:</b> attitude.h:8</div></div>
<div class="ttc" id="classvn_1_1math_1_1_attitude_f_html"><div class="ttname"><a href="classvn_1_1math_1_1_attitude_f.html">vn::math::AttitudeF</a></div><div class="ttdoc">Representation of an orientation/attitude. </div><div class="ttdef"><b>Definition:</b> attitude.h:12</div></div>
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