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162 lines
6.9 KiB
C
162 lines
6.9 KiB
C
/*
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PURPOSE:
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(Generate a transformation matrix using an Euler YAW-ROLL-PITCH
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sequence OR generate an Euler YAW-ROLL-PITCH sequence using an
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coordinate transformation matrix.)
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PROGRAMMERS:
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(((Robert W. Bailey) (LinCom Corp) (2/1/91))
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((An Huynh) (LinCom Corp) (June 97) (Singularity Handling))
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((Robert Gay) (Titan-LinCom) (July 2001) (Added tolerance for
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asin function)))
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*/
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/* FUNCTION: A transformation matrix is generated using the input
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YAW-ROLL-PITCH euler angles (in radians). The angles
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are input as:
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angle[0] = YAW - M_PI <= YAW < M_PI
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angle[1] = ROLL - M_PI/2 <= ROLL < M_PI/2
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angle[2] = PITCH - M_PI <= PITCH < M_PI
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*/
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#include <stdio.h>
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#include "trick/trick_math.h"
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int euler312(
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double angle[3], /* In: r Method=0, 0=YAW, 1=ROLL, 2=PITCH */
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double mat[3][3], /* Out: r Method=0,
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Coordinate tranformation matrix */
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int method, /* In: 0 = Make matrix from angles,
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1 = Make angles from matrix,
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2 = Make angles from matrix but use previous
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values to prevent singularities */
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double *prev, /* In: r prev[3], Previous values of
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euler angles */
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const char *file, /* In: file_name of caller of this function */
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int lineno) /* In: line # of call to this function in fname */
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{
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double s1; /* SINE OF YAW */
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double c1; /* COSINE OF YAW */
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double s2; /* SINE OF ROLL */
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double c2; /* COSINE OF ROLL */
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double s3; /* SINE OF PITCH */
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double c3; /* COSINE OF PITCH */
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double tmp;
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int ret = 0;
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static unsigned short error_flag[5] = {0, 0, 0, 0, 0}; /* Send errors only once */
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(void)file ; /* unused */
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(void)lineno ; /* unused */
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if (method == 0) {
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/* Compute sines and cosines of yaw, roll, and pitch */
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s1 = sin(angle[0]);
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c1 = cos(angle[0]);
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s2 = sin(angle[1]);
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c2 = cos(angle[1]);
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s3 = sin(angle[2]);
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c3 = cos(angle[2]);
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/* Compute values for matrix "mat" */
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mat[0][0] = c1 * c3 - s1 * s2 * s3;
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mat[1][0] = -s1 * c2;
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mat[2][0] = c1 * s3 + s1 * s2 * c3;
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mat[0][1] = s1 * c3 + c1 * s2 * s3;
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mat[1][1] = c1 * c2;
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mat[2][1] = s1 * s3 - c1 * s2 * c3;
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mat[0][2] = -c2 * s3;
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mat[1][2] = s2;
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mat[2][2] = c2 * c3;
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} else if (method == 1) {
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#define TOLERANCE 1.0e-15
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/* Within normal range for asin function */
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if (-1.0 <= mat[1][2] && mat[1][2] <= 1.0) {
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angle[1] = asin(mat[1][2]);
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if (M_ABS(angle[1] - M_PI_2) < 1.0e-6) {
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angle[0] = atan2(mat[0][1], mat[0][0]);
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angle[1] = M_PI_2;
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angle[2] = 0.0;
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ret = TM_SING_312_P;
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if ( error_flag[0] == 0 ) {
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tm_print_error(ret);
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error_flag[0]=1;
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}
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} else if (M_ABS(angle[1] + M_PI_2) < 1.0e-6) {
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angle[0] = atan2(mat[0][1], mat[0][0]);
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angle[1] = -M_PI_2;
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angle[2] = 0.0;
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ret = TM_SING_312_N;
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if ( error_flag[1] == 0 ) {
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tm_print_error(ret);
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error_flag[1]=1;
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}
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} else {
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angle[0] = atan2(-mat[1][0], mat[1][1]);
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angle[2] = atan2(-mat[0][2], mat[2][2]);
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}
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}
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/* Out of normal range for asin func, but within tolerance */
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else if (1.0 < mat[1][2] && mat[1][2] <= (1.0 + TOLERANCE)) {
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angle[0] = atan2(mat[0][1], mat[0][0]);
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angle[1] = M_PI_2;
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angle[2] = 0.0;
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ret = TM_SING_312_P;
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if ( error_flag[2] == 0 ) {
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tm_print_error(ret);
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error_flag[2]=1;
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}
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} else if ((-1.0 - TOLERANCE) <= mat[1][2] && mat[1][2] < -1.0) {
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angle[0] = atan2(mat[0][1], mat[0][0]);
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angle[1] = -M_PI_2;
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angle[2] = 0.0;
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ret = TM_SING_312_N;
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if ( error_flag[3] == 0 ) {
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tm_print_error(ret);
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error_flag[3]=1;
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}
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}
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/* Error: Out of normal range & beyond tolerance for asin func*/
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else {
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ret = TM_ANG_NAN;
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if ( error_flag[4] == 0 ) {
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tm_print_error(ret);
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error_flag[4]=1;
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}
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angle[0] = angle[1] = angle[2] = NAN;
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}
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#undef TOLERANCE
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} else if (method == 2) {
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#define TOLERANCE 0.0314159265358979 /* 1.8 degree tolerance */
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if (M_ABS(mat[1][2] - 1.0) < 1.0e-6) {
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angle[0] = atan2(mat[0][1], mat[0][0]) - prev[2];
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angle[1] = M_PI_2;
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angle[2] = prev[2];
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tmp = angle[0] - prev[0];
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if (M_ABS(tmp - 2.0 * M_PI) < TOLERANCE)
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angle[0] -= 2.0 * M_PI;
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else if (M_ABS(tmp + 2.0 * M_PI) < TOLERANCE)
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angle[0] += 2.0 * M_PI;
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} else if (M_ABS(mat[1][2] + 1.0) < 1.0e-6) {
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angle[0] = atan2(mat[0][1], mat[0][0]) + prev[2];
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angle[1] = -M_PI_2;
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angle[2] = prev[2];
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tmp = angle[0] - prev[0];
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if (M_ABS(tmp - 2.0 * M_PI) < TOLERANCE)
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angle[0] -= 2.0 * M_PI;
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else if (M_ABS(tmp + 2.0 * M_PI) < TOLERANCE)
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angle[0] += 2.0 * M_PI;
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} else {
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angle[0] = atan2(-mat[1][0], mat[1][1]);
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angle[1] = asin(mat[1][2]);
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angle[2] = atan2(-mat[0][2], mat[2][2]);
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}
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#undef TOLERANCE
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}
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return (ret);
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}
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