initial

vnproglib/cpp/include/vn/conversions.h

@@ -0,0 +1,270 @@
+#ifndef _VN_MATH_CONVERSIONS_H_
+#define _VN_MATH_CONVERSIONS_H_
+
+#include "export.h"
+#include "vector.h"
+#include "matrix.h"
+
+namespace vn {
+namespace math {
+
+/// \defgroup angle_convertors Angle Convertors
+/// \brief Methods useful for angle conversions.
+/// \{
+
+/// \brief Converts an angle in radians to degrees.
+///
+/// \param[in] angleInRads The angle in radians.
+/// \return The converted angle.
+float rad2deg(float angleInRads);
+
+/// \brief Converts an angle in radians to degrees.
+///
+/// \param[in] angleInRads The angle in radians.
+/// \return The converted angle.
+double rad2deg(double angleInRads);
+
+/// \brief Convers a vector of angles in radians to degrees.
+///
+/// \param[in] anglesInRads The vector of angles in radians.
+/// \return The converted angles.
+template<size_t dim>
+vec<dim, float> rad2deg(vec<dim> anglesInRads)
+{
+	for (size_t i = 0; i < dim; i++)
+		anglesInRads[i] = rad2deg(anglesInRads[i]);
+
+	return anglesInRads;
+}
+
+/// \brief Converts an angle in degrees to radians.
+///
+/// \param[in] angleInDegs The angle in degrees.
+/// \return The angle converted to radians.
+float vn_proglib_DLLEXPORT deg2rad(float angleInDegs);
+
+/// \brief Converts an angle in degrees to radians.
+///
+/// \param[in] angleInDegs The angle in degrees.
+/// \return The angle converted to radians.
+double vn_proglib_DLLEXPORT deg2rad(double angleInDegs);
+
+/// \brief Convers a vector of angles in degrees to radians.
+///
+/// \param[in] anglesInDegs The vector of angles in degrees.
+/// \return The converted angles.
+//template<size_t dim>
+//vec<dim, float> vn_proglib_DLLEXPORT deg2rad(vec<dim> anglesInDegs)
+template<size_t dim>
+vec<dim, float> deg2rad(vec<dim> anglesInDegs)
+{
+	for (size_t i = 0; i < dim; i++)
+		anglesInDegs[i] = deg2rad(anglesInDegs[i]);
+
+	return anglesInDegs;
+}
+
+/// \}
+
+/// \defgroup temperature_convertors Temperature Convertors
+/// \brief Methods useful for temperature conversions.
+/// \{
+
+/// \brief Converts a temperature in Celsius to Fahrenheit.
+///
+/// \param[in] tempInCelsius The temperature in Celsius.
+/// \return The converted temperature in Fahrenheit.
+float celsius2fahren(float tempInCelsius);
+
+/// \brief Converts a temperature in Celsius to Fahrenheit.
+///
+/// \param[in] tempInCelsius The temperature in Celsius.
+/// \return The converted temperature in Fahrenheit.
+double celsius2fahren(double tempInCelsius);
+
+/// \brief Converts a temperature in Fahrenheit to Celsius.
+///
+/// \param[in] tempInFahren The temperature in Fahrenheit.
+/// \return The converted temperature in Celsius.
+float fahren2celsius(float tempInFahren);
+
+/// \brief Converts a temperature in Fahrenheit to Celsius.
+///
+/// \param[in] tempInFahren The temperature in Fahrenheit.
+/// \return The converted temperature in Celsius.
+double fahren2celsius(double tempInFahren);
+
+/// \brief Converts a temperature in Celsius to Kelvin.
+///
+/// \param[in] tempInCelsius The temperature in Celsius.
+/// \return The converted temperature in Kelvin.
+float celsius2kelvin(float tempInCelsius);
+
+/// \brief Converts a temperature in Celsius to Kelvin.
+///
+/// \param[in] tempInCelsius The temperature in Celsius.
+/// \return The converted temperature in Kelvin.
+double celsius2kelvin(double tempInCelsius);
+
+/// \brief Converts a temperature in Kelvin to Celsius.
+///
+/// \param[in] tempInKelvin The temperature in Kelvin.
+/// \return The converted temperature in Celsius.
+float kelvin2celsius(float tempInKelvin);
+
+/// \brief Converts a temperature in Kelvin to Celsius.
+///
+/// \param[in] tempInKelvin The temperature in Kelvin.
+/// \return The converted temperature in Celsius.
+double kelvin2celsius(double tempInKelvin);
+
+/// \brief Converts a temperature in Fahrenheit to Kelvin.
+///
+/// \param[in] tempInFahren The temperature in Fahrenheit.
+/// \return The converted temperature in Kelvin.
+float fahren2kelvin(float tempInFahren);
+
+/// \brief Converts a temperature in Fahrenheit to Kelvin.
+///
+/// \param[in] tempInFahren The temperature in Fahrenheit.
+/// \return The converted temperature in Kelvin.
+double fahren2kelvin(double tempInFahren);
+
+/// \brief Converts a temperature in Kelvin to Fahrenheit.
+///
+/// \param[in] tempInKelvin The temperature in Kelvin.
+/// \return The converted temperature in Fahrenheit.
+float kelvin2fahren(float tempInKelvin);
+
+/// \brief Converts a temperature in Kelvin to Fahrenheit.
+///
+/// \param[in] tempInKelvin The temperature in Kelvin.
+/// \return The converted temperature in Fahrenheit.
+double kelvin2fahren(double tempInKelvin);
+
+/// \}
+
+/// \brief Converts an orientation represented as a yaw, pitch, roll in degrees to
+/// a quaternion.
+///
+/// \param[in] yprInDegs The yaw, pitch, roll values in degrees to convert.
+/// \return The corresponding quaternion.
+vec4f yprInDegs2Quat(vec3f yprInDegs);
+
+/// \brief Converts an orientation represented as a yaw, pitch, roll in radians to
+/// a quaternion.
+///
+/// \param[in] yprInRads The yaw, pitch, roll values in radians to convert.
+/// \return The corresponding quaternion.
+vec4f yprInRads2Quat(vec3f yprInRads);
+
+/// \brief Converts a yaw, pitch, roll in degrees to a direction cosine matrix.
+///
+/// \param[in] yprInDegs The yaw, pitch, roll values in degrees to convert.
+/// \return The corresponding direction cosine matrix.
+mat3f yprInDegs2Dcm(vec3f yprInDegs);
+
+/// \brief Converts a yaw, pitch, roll in radians to a direction cosine matrix.
+///
+/// \param[in] yprInRads The yaw, pitch, roll values in radians to convert.
+/// \return The corresponding direction cosine matrix.
+mat3f yprInRads2Dcm(vec3f yprInRads);
+
+/// \brief Converts an orientation represented as a quaternion to yaw, pitch,
+/// roll values in degrees.
+///
+/// \param[in] The quaternion value to convert.
+/// \return The corresponding yaw, pitch, roll values in degrees.
+vec3f quat2YprInDegs(vec4f quat);
+
+/// \brief Converts an orientation represented as a quaternion to yaw, pitch,
+/// roll values in radians.
+///
+/// \param[in] The quaternion value to convert.
+/// \return The corresponding yaw, pitch, roll values in radians.
+vec3f quat2YprInRads(vec4f quat);
+
+/// \brief Converts an orientation represented as a quaternion to a
+/// direction cosine matrix.
+///
+/// \param[in] quat The quaternion to convert.
+/// \return The corresponding direction cosine matrix.
+mat3f quat2dcm(vec4f quat);
+
+/// \brief Converts a direction cosine matrix to yaw, pitch, roll in degrees.
+///
+/// \param[in] dcm The direction cosine matrix.
+/// \return The corresponding yaw, pitch, roll in degrees.
+vec3f dcm2YprInDegs(mat3f dcm);
+
+/// \brief Converts a direction cosine matrix to yaw, pitch, roll in radians.
+///
+/// \param[in] dcm The direction cosine matrix.
+/// \return The corresponding yaw, pitch, roll in radians.
+vec3f dcm2YprInRads(mat3f dcm);
+
+/// \brief Converts an orientation represented as a direction cosine matrix to a
+/// quaternion.
+///
+/// \param[in] dcm The direction cosine matrix to convert.
+/// \return The corresponding quaternion.
+vec4f dcm2quat(mat3f dcm);
+
+/// \brief Computes the course over ground (COG) from x,y velocity components
+/// in the NED frame.
+///
+/// \param[in] velNedX x-component of the NED velocity in m/s.
+/// \param[in] velNedY y-component of the NED velocity in m/s.
+/// \return The computed course over ground (COG) in radians.
+float vn_proglib_DLLEXPORT course_over_ground(float velNedX, float velNedY);
+
+/// \brief Computes the course over ground (COG) from a 3-component velocity
+/// vector in NED frame.
+///
+/// \param[in] velNed 3-component velocity vector in NED frame in m/s.
+/// \return The Computed course over ground (COG) in radians.
+float vn_proglib_DLLEXPORT course_over_ground(vec3f velNed);
+
+/// \brief Computes the speed over ground (SOG) from x,y velocity components
+/// in the NED frame.
+///
+/// \param[in] velNedX x-component of the NED velocity in m/s.
+/// \param[in] velNedY y-component of the NED velocity in m/s.
+/// \return The computed speed over ground (SOG) in m/s.
+float vn_proglib_DLLEXPORT speed_over_ground(float velNedX, float velNedY);
+
+/// \brief Computes the speed over ground (SOG) from a 3-component velocity
+/// vector in NED frame.
+///
+/// \param[in] velNed 3-component velocity vector in NED frame in m/s.
+/// \return The Computed speed over ground (COG) in m/s.
+float vn_proglib_DLLEXPORT speed_over_ground(vec3f velNed);
+
+/// \brief Converts from quaternion to omega, phi, kappa representation.
+///
+/// \param[in] quat The quaternion.
+/// \return The omega, phi, kappa representation in radians.
+vec3f vn_proglib_DLLEXPORT quat2omegaPhiKappaInRads(vec4f quat);
+
+/// \brief Converts from direction cosine matrix to omega, phi, kappa representation.
+///
+/// \param[in] dcm The direction cosine matrix.
+/// \return The omega, phi, kappa representation in radians.
+vec3f vn_proglib_DLLEXPORT dcm2omegaPhiKappaInRads(mat3f dcm);
+
+/// \brief Converts from yaw, pitch, roll in degrees to omega, phi, kappa representation.
+///
+/// \param[in] yprDegs The yaw, pitch, roll in degrees.
+/// \return The omega, phi, kappa representation in radians.
+vec3f vn_proglib_DLLEXPORT yprInDegs2omegaPhiKappaInRads(vec3f yprDegs);
+
+/// \brief Converts from yaw, pitch, roll in radians to omega, phi, kappa representation.
+///
+/// \param[in] yprRads The yaw, pitch, roll in radians.
+/// \return The omega, phi, kappa representation radians.
+vec3f vn_proglib_DLLEXPORT yprInRads2omegaPhiKappaInRads(vec3f yprRads);
+
+}
+}
+
+#endif