Euler.hpp

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#pragma once
 
#include "AstGlobal.h"
#include "AstMath/AttitudeConvertProto.hpp"
 
AST_NAMESPACE_BEGIN
 
class Euler
{
public:
    // 欧拉角转序
    enum ERotationOrder
    {
        eX = 1,
        eY = 2,
        eZ = 3,
        eXYZ = 123,
        eXZY = 132,
        eYXZ = 213,
        eYZX = 231,
        eZXY = 312,
        eZYX = 321,
        eXYX = 121,
        eXZX = 131,
        eYXY = 212,
        eYZY = 232,
        eZXZ = 313,
        eZYZ = 323
    };
    
    errc_t toMatrix(int seq, Matrix3d& mtx) const{return aEulerToMatrix(*this, seq,mtx); }
    
    errc_t toQuat(int seq, Quaternion& quat) const{return aEulerToQuat(*this, seq, quat); }
    
    errc_t fromMatrix(const Matrix3d& mtx, int seq){return aMatrixToEuler(mtx, seq, *this); }
 
    errc_t fromQuat(const Quaternion& quat, int seq){return aQuatToEuler(quat, seq, *this); }
 
    double angle1() const{return angle1_;}
    double angle2() const{return angle2_;}
    double angle3() const{return angle3_;}
    double& angle1(){return angle1_;}
    double& angle2(){return angle2_;}
    double& angle3(){return angle3_;}
    
    A_DEF_POD_ITERABLE(double)
 
public:
    // 设置为public只是为了聚合初始化，不要直接访问成员变量
    double  angle1_;    
    double  angle2_;    
    double  angle3_;    
};
 
 
AST_NAMESPACE_END
 
AST_DECL_TYPE_ALIAS(Euler)