found::Attitude Class Reference

An Attitude is an immutable object that represents the orientation of a 3D point. More...

#include <attitude-utils.hpp>

Collaboration diagram for found::Attitude:

Public Member Functions
	Attitude ()=default
	Attitude (const Quaternion &)
	Constructs an Attitude object from Quaternion information.
	Attitude (const Mat3 &dcm)
	Constructs an Attitude object from a Direction Cosine Matrix (A matrix holding the direction cosines for an attitude)
Quaternion	GetQuaternion () const
	Provides the Quaternion corresponding to this Attitude.
Mat3	GetDCM () const
	Obtains the rotation matrix from this Attitude.
EulerAngles	ToSpherical () const
	Obtains the Euler Angles of this Attitude.
Vec3	Rotate (const Vec3 &) const
	Obtains a vector rotated to this Attitude from another vector (Convert a vector from the reference frame to the body frame.)

Private Types
enum	AttitudeType { NullType , QuaternionType , DCMType }
	Represents what internal representation for attitude is being used. More...

Private Attributes
Quaternion	quaternion
	Internal Quaternion Representation.
Mat3	dcm
	Internal DCM Representation.
AttitudeType	type
	Internal Representation Type.

Detailed Description

An Attitude is an immutable object that represents the orientation of a 3D point.

The attitude (orientation) of a spacecraft. The Attitude object stores either a rotation matrix (direction cosine matrix) or a quaternion, and converts automatically to the other format when needed.

Note

When porting to an embedded device, you'll probably want to get rid of this class and adapt to either quaternions or DCMs exclusively, depending on the natural output format of whatever attitude estimation algorithm you're using.

Member Enumeration Documentation

AttitudeType

enum found::Attitude::AttitudeType

private

Represents what internal representation for attitude is being used.

Enumerator
NullType	No Internal representation.
QuaternionType	Quaternion Internal Representation.
DCMType	DCM Internal Representation.

Constructor & Destructor Documentation

Attitude() [1/3]

found::Attitude::Attitude ( )

default

Attitude() [2/3]

found::Attitude::Attitude ( const Quaternion &  quat )

explicit

Constructs an Attitude object from Quaternion information.

Parameters

quat	The quaternion to base the attitude off of

Attitude() [3/3]

found::Attitude::Attitude ( const Mat3 &  matrix )

explicit

Constructs an Attitude object from a Direction Cosine Matrix (A matrix holding the direction cosines for an attitude)

Parameters

matrix

The matrix holding the direction cosines

Member Function Documentation

GetDCM()

Mat3 found::Attitude::GetDCM

(

)

const

Obtains the rotation matrix from this Attitude.

Returns

A matrix containing the direction cosines indicated by this

GetQuaternion()

Quaternion found::Attitude::GetQuaternion

(

)

const

Provides the Quaternion corresponding to this Attitude.

Returns

A Quaternion that holds the attitude information of this

Rotate()

Vec3 found::Attitude::Rotate

(

const Vec3 &

vec

)

const

Obtains a vector rotated to this Attitude from another vector (Convert a vector from the reference frame to the body frame.)

Parameters

vec	The vector to rotate

Returns

A new vector that is rotated from vec based on this

ToSpherical()

EulerAngles found::Attitude::ToSpherical

(

)

const

Obtains the Euler Angles of this Attitude.

Returns

An EulerAngles object that holds the Euler Angles of this

Member Data Documentation

dcm

Mat3 found::Attitude::dcm

private

Internal DCM Representation.

quaternion

Quaternion found::Attitude::quaternion

private

Internal Quaternion Representation.

type

AttitudeType found::Attitude::type

private

Internal Representation Type.

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The documentation for this class was generated from the following files:

• src/common/spatial/attitude-utils.hpp
• src/common/spatial/attitude-utils.cpp