apollo::localization::msf::math结构体 参考

#include <math_util.h>

apollo::localization::msf::math 的协作图:

静态 Public 成员函数
static void	EulerToQuaternion (const double x_euler, const double y_euler, const double z_euler, double qbn[4])
static void	QuaternionToDcm (const double *quaternion, double dcm[3][3])

详细描述

在文件 math_util.h 第 26 行定义.

成员函数说明

EulerToQuaternion()

static void apollo::localization::msf::math::EulerToQuaternion ( const double  x_euler, const double  y_euler, const double  z_euler, double  qbn[4]  )

inlinestatic

在文件 math_util.h 第 27 行定义.

                                                                     {
    qbn[0] = sin(x_euler / 2.0) * sin(y_euler / 2.0) * sin(z_euler / 2.0) +
             cos(x_euler / 2.0) * cos(y_euler / 2.0) * cos(z_euler / 2.0);
    qbn[1] = cos(y_euler / 2.0) * cos(z_euler / 2.0) * sin(x_euler / 2.0) +
             cos(x_euler / 2.0) * sin(y_euler / 2.0) * sin(z_euler / 2.0);
    qbn[2] = cos(x_euler / 2.0) * cos(z_euler / 2.0) * sin(y_euler / 2.0) -
             cos(y_euler / 2.0) * sin(x_euler / 2.0) * sin(z_euler / 2.0);
    qbn[3] = cos(z_euler / 2.0) * sin(x_euler / 2.0) * sin(y_euler / 2.0) -
             cos(x_euler / 2.0) * cos(y_euler / 2.0) * sin(z_euler / 2.0);
 
    return;
  }

QuaternionToDcm()

static void apollo::localization::msf::math::QuaternionToDcm ( const double *  quaternion, double  dcm[3][3]  )

inlinestatic

在文件 math_util.h 第 41 行定义.

                                                                          {
    dcm[0][0] = quaternion[0] * quaternion[0] + quaternion[1] * quaternion[1] -
                quaternion[2] * quaternion[2] - quaternion[3] * quaternion[3];
    dcm[0][1] =
        2 * (quaternion[1] * quaternion[2] - quaternion[0] * quaternion[3]);
    dcm[0][2] =
        2 * (quaternion[1] * quaternion[3] + quaternion[0] * quaternion[2]);
 
    dcm[1][0] =
        2 * (quaternion[1] * quaternion[2] + quaternion[0] * quaternion[3]);
    dcm[1][1] = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] +
                quaternion[2] * quaternion[2] - quaternion[3] * quaternion[3];
    dcm[1][2] =
        2 * (quaternion[2] * quaternion[3] - quaternion[0] * quaternion[1]);
 
    dcm[2][0] =
        2 * (quaternion[1] * quaternion[3] - quaternion[0] * quaternion[2]);
    dcm[2][1] =
        2 * (quaternion[2] * quaternion[3] + quaternion[0] * quaternion[1]);
    dcm[2][2] = quaternion[0] * quaternion[0] - quaternion[1] * quaternion[1] -
                quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3];
    return;
  }

---

该结构体的文档由以下文件生成:

• modules/localization/msf/common/util/math_util.h