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68 lines
2.8 KiB
C
68 lines
2.8 KiB
C
/*******************************************************************************
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* *
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* Trick Simulation Environment Software *
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* *
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* Copyright (c) 1996,1997 LinCom Corporation, Houston, TX *
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* All rights reserved. *
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* *
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* Copyrighted by LinCom Corporation and proprietary to it. Any unauthorized *
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* use of Trick Software including source code, object code or executables is *
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* strictly prohibited and LinCom assumes no liability for such actions or *
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* results thereof. *
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* *
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* Trick Software has been developed under NASA Government Contracts and *
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* access to it may be granted for Government work by the following contact: *
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* *
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* Contact: Charles Gott, Branch Chief *
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* Simulation and Graphics Branch *
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* Automation, Robotics, & Simulation Division *
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* NASA, Johnson Space Center, Houston, TX *
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* *
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*******************************************************************************/
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/*
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PURPOSE:
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(Reference frame definition parameter definition)
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ASSUMPTIONS AND LIMITATIONS:
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((Must use three mutualy exculsive angles in Euler rotation sequence))
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PROGRAMMERS:
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(((Robert W. Bailey) (LinCom Corp) (10/1/91) (--) (--)))
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*/
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/*
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* $Id: reference_frame.h 49 2009-02-02 22:37:59Z lin $
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*/
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#ifndef TRANSFORM_DEFINED
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#define TRANSFORM_DEFINED
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum {
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Roll_Pitch_Yaw, /* Roll Pitch Yaw sequence */
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Roll_Yaw_Pitch, /* Roll Yaw Pitch sequence */
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Pitch_Yaw_Roll, /* Pitch Yaw Roll sequence */
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Pitch_Roll_Yaw, /* Pitch Roll Yaw sequence */
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Yaw_Roll_Pitch, /* Yaw Roll Pitch sequence */
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Yaw_Pitch_Roll /* Yaw Pitch Roll sequence */
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} Euler_Seq;
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typedef struct {
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Euler_Seq euler_sequence; /* -- Euler rotation sequence */
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double euler_angles[3]; /* (r) Euler rot angles from
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Frame 1 to Frame 2 */
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double location[3]; /* (m) Frame 1 origin to Frame 2
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origin vector, referenced
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to Frame 1 */
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} TRANSFORM;
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#ifdef __cplusplus
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}
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#endif
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#endif
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