姿态功能

详细描述

提供姿态计算相关功能

提供了姿态计算以及相互转换相关功能，包括：

• 四元数
• 欧拉角
• 轴角
• 旋转矩阵

类
class	ast::AngleAxis
class	ast::Euler
class	ast::Quaternion

函数
A_ALWAYS_INLINE Quaternion	ast::aMatrixToQuat (const Matrix3d &mtx)
A_ALWAYS_INLINE Matrix3d	ast::aEuler323ToMatrix (const Euler &euler)
A_ALWAYS_INLINE Matrix3d	ast::aEuler313ToMatrix (const Euler &euler)
A_ALWAYS_INLINE Matrix3d	ast::aRotationZMatrix (double angle)
A_ALWAYS_INLINE Matrix3d	ast::aRotationXMatrix (double angle)
errc_t	ast::aRotationMatrix (double angle, int axis, Matrix3d &mtx)
void	ast::aRotationXMatrix (double angle, Matrix3d &mtx)
void	ast::aRotationYMatrix (double angle, Matrix3d &mtx)
void	ast::aRotationZMatrix (double angle, Matrix3d &mtx)
void	ast::aQuatToMatrix (const Quaternion &quat, Matrix3d &mtx)
void	ast::aMatrixToQuat (const Matrix3d &mtx, Quaternion &quat)
errc_t	ast::aMatrixToEuler (const Matrix3d &mtx, int seq, Euler &euler)
errc_t	ast::aEulerToMatrix (const Euler &euler, int seq, Matrix3d &mtx)
errc_t	ast::_aEulerToMatrix (const Euler &euler, int seq, Matrix3d &mtx)
void	ast::aMatrixToEuler123 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler132 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler213 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler231 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler312 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler321 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler121 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler131 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler212 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler232 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler313 (const Matrix3d &mtx, Euler &euler)
void	ast::aMatrixToEuler323 (const Matrix3d &mtx, Euler &euler)
void	ast::aEuler123ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler132ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler213ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler231ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler312ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler321ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler121ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler131ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler212ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler232ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler313ToMatrix (const Euler &euler, Matrix3d &mtx)
void	ast::aEuler323ToMatrix (const Euler &euler, Matrix3d &mtx)
errc_t	ast::aEulerToQuat (const Euler &euler, int seq, Quaternion &quat)
errc_t	ast::aQuatToEuler (const Quaternion &quat, int seq, Euler &euler)
void	ast::aQuatToAngleAxis (const Quaternion &quat, AngleAxis &aa)
void	ast::aAngleAxisToQuat (const AngleAxis &aa, Quaternion &quat)
void	ast::aAngleAxisToMatrix (const AngleAxis &aa, Matrix3d &mtx)
void	ast::aMatrixToAngleAxis (const Matrix3d &mtx, AngleAxis &aa)
Quaternion	ast::aQuatProduct (const Quaternion &q1, const Quaternion &q2)

函数说明

aAngleAxisToMatrix()

AST_MATH_CAPI void ast::aAngleAxisToMatrix	(	const AngleAxis &	aa,
		Matrix3d &	mtx )

轴角转矩阵

参数

aa	轴角
mtx	矩阵

aAngleAxisToQuat()

AST_MATH_CAPI void ast::aAngleAxisToQuat	(	const AngleAxis &	aa,
		Quaternion &	quat )

轴角转四元数

参数

aa	轴角
quat	四元数

aEulerToMatrix()

AST_MATH_CAPI errc_t ast::aEulerToMatrix	(	const Euler &	euler,
		int	seq,
		Matrix3d &	mtx )

欧拉角转矩阵

参数

euler
seq
mtx

返回

aEulerToQuat()

AST_MATH_CAPI errc_t ast::aEulerToQuat	(	const Euler &	euler,
		int	seq,
		Quaternion &	quat )

欧拉角转四元数

参数

euler	欧拉角
seq	转序
quat	四元数

返回

aMatrixToAngleAxis()

AST_MATH_CAPI void ast::aMatrixToAngleAxis	(	const Matrix3d &	mtx,
		AngleAxis &	aa )

矩阵转轴角

参数

mtx	矩阵
aa	轴角

aMatrixToEuler()

AST_MATH_CAPI errc_t ast::aMatrixToEuler	(	const Matrix3d &	mtx,
		int	seq,
		Euler &	euler )

矩阵转欧拉角

参数

mtx	矩阵
seq	转序
euler	欧拉角 如果旋转顺序为ABC，angle2在区间[-PI/2, PI/2]，其他两个角在区间[-PI,PI] 如果旋转顺序为ABA，angle2在区间[0, PI]，其他两个角在区间[-PI,PI]

返回

aMatrixToQuat() [1/2]

A_ALWAYS_INLINE Quaternion ast::aMatrixToQuat

(

const Matrix3d &

mtx

)

矩阵转四元数

参数

mtx

旋转矩阵

返回

四元数

aMatrixToQuat() [2/2]

AST_MATH_CAPI void ast::aMatrixToQuat	(	const Matrix3d &	mtx,
		Quaternion &	quat )

矩阵转四元数

参数

mtx
quat

aQuatProduct()

Quaternion ast::aQuatProduct ( const Quaternion & q1, const Quaternion & q2 )

inline

四元数乘积

参数

q1	四元数1
q2	四元数2

返回

四元数乘积

aQuatToAngleAxis()

AST_MATH_CAPI void ast::aQuatToAngleAxis	(	const Quaternion &	quat,
		AngleAxis &	aa )

四元数转轴角

参数

quat	四元数
aa	轴角

aQuatToEuler()

AST_MATH_CAPI errc_t ast::aQuatToEuler	(	const Quaternion &	quat,
		int	seq,
		Euler &	euler )

四元数转欧拉角

参数

quat	四元数
seq	转序
euler	欧拉角

返回

aQuatToMatrix()

AST_MATH_CAPI void ast::aQuatToMatrix	(	const Quaternion &	quat,
		Matrix3d &	mtx )

四元数转矩阵

参数

quat
mtx

aRotationMatrix()

AST_MATH_CAPI errc_t ast::aRotationMatrix	(	double	angle,
		int	axis,
		Matrix3d &	mtx )

坐标旋转矩阵

参数

angle	旋转角度（弧度）
axis	旋转轴（1:X轴, 2:Y轴, 3:Z轴）
mtx	输出矩阵

aRotationXMatrix()

AST_MATH_CAPI void ast::aRotationXMatrix	(	double	angle,
		Matrix3d &	mtx )

绕X轴坐标旋转矩阵

参数

angle	旋转角度（弧度）
mtx	输出矩阵

aRotationYMatrix()

AST_MATH_CAPI void ast::aRotationYMatrix	(	double	angle,
		Matrix3d &	mtx )

绕Y轴坐标旋转矩阵

参数

angle	旋转角度（弧度）
mtx	输出矩阵

aRotationZMatrix()

AST_MATH_CAPI void ast::aRotationZMatrix	(	double	angle,
		Matrix3d &	mtx )

绕Z轴坐标旋转矩阵

参数

angle	旋转角度（弧度）
mtx	输出矩阵