found::Attitude Class Reference

#include <attitude-utils.hpp>

Public Member Functions
	Attitude (const Quaternion &)
	Attitude (const Mat3 &dcm)
Quaternion	GetQuaternion () const
Mat3	GetDCM () const
EulerAngles	ToSpherical () const
Vec3	Rotate (const Vec3 &) const

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.

Constructor & Destructor Documentation

Attitude() [1/2]

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() [2/2]

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

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

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