Atsumi Toda / Mbed 2 deprecated Matrix_calculation_test

慣性航法で用いられる座標変換をプログラムにしました。ECI座標の初期位置を設定した後、ECI,ECEF,NED,機体座標系の変換を行います。行列計算の方法や値の設定などは、ヘッダーファイル内の記述を見れば分かると思います。 また計算結果はTeratermで確認する事が出来ます。 （行列を見る場合はtoString関数、ベクトルを見る場合はtoString_V関数を使用します）

Dependencies:   mbed

Vector/Vector.h@0:6a28eb668082, 2019-01-30 (annotated)

Committer:
Joeatsumi
Date:
Wed Jan 30 11:39:03 2019 +0000
Revision:
0:6a28eb668082
Direction cosine matrix and it's calculation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joeatsumi 0:6a28eb668082 1 #pragma once
Joeatsumi 0:6a28eb668082 2 #include "mbed.h"
Joeatsumi 0:6a28eb668082 3
Joeatsumi 0:6a28eb668082 4 class Matrix;
Joeatsumi 0:6a28eb668082 5
Joeatsumi 0:6a28eb668082 6 class Vector {
Joeatsumi 0:6a28eb668082 7 public:
Joeatsumi 0:6a28eb668082 8 Vector(int dim);
Joeatsumi 0:6a28eb668082 9 ~Vector();
Joeatsumi 0:6a28eb668082 10 Vector(const Vector& v);
Joeatsumi 0:6a28eb668082 11
Joeatsumi 0:6a28eb668082 12 Vector& operator=(const Vector& v);
Joeatsumi 0:6a28eb668082 13 Vector operator+();
Joeatsumi 0:6a28eb668082 14 Vector operator-();
Joeatsumi 0:6a28eb668082 15 Vector& operator*=(float c);
Joeatsumi 0:6a28eb668082 16 Vector& operator/=(float c);
Joeatsumi 0:6a28eb668082 17 Vector& operator+=(const Vector& v);
Joeatsumi 0:6a28eb668082 18 Vector& operator-=(const Vector& v);
Joeatsumi 0:6a28eb668082 19
Joeatsumi 0:6a28eb668082 20 void SetComp(int dimNo, float val);
Joeatsumi 0:6a28eb668082 21 void SetComps(float* vals);
Joeatsumi 0:6a28eb668082 22 float GetNorm() const;
Joeatsumi 0:6a28eb668082 23 Vector Normalize() const;
Joeatsumi 0:6a28eb668082 24 Vector GetParaCompTo(Vector v);
Joeatsumi 0:6a28eb668082 25 Vector GetPerpCompTo(Vector v);
Joeatsumi 0:6a28eb668082 26
Joeatsumi 0:6a28eb668082 27 inline int GetDim() const {
Joeatsumi 0:6a28eb668082 28 return dim;
Joeatsumi 0:6a28eb668082 29 }
Joeatsumi 0:6a28eb668082 30
Joeatsumi 0:6a28eb668082 31 inline const float* GetpComponents() const {
Joeatsumi 0:6a28eb668082 32 return (const float*)components;
Joeatsumi 0:6a28eb668082 33 }
Joeatsumi 0:6a28eb668082 34
Joeatsumi 0:6a28eb668082 35 inline float GetComp(int dimNo) const {
Joeatsumi 0:6a28eb668082 36 if (dimNo > dim) error("Index Out of Bounds Error !!");
Joeatsumi 0:6a28eb668082 37 return components[dimNo-1];
Joeatsumi 0:6a28eb668082 38 }
Joeatsumi 0:6a28eb668082 39
Joeatsumi 0:6a28eb668082 40 void CleanUp();
Joeatsumi 0:6a28eb668082 41
Joeatsumi 0:6a28eb668082 42 private:
Joeatsumi 0:6a28eb668082 43 int dim;
Joeatsumi 0:6a28eb668082 44 float* components;
Joeatsumi 0:6a28eb668082 45
Joeatsumi 0:6a28eb668082 46 Vector& operator*=(const Matrix& m);
Joeatsumi 0:6a28eb668082 47 Vector& operator*=(const Vector& m);
Joeatsumi 0:6a28eb668082 48 };
Joeatsumi 0:6a28eb668082 49
Joeatsumi 0:6a28eb668082 50 Vector operator+(const Vector& lhv, const Vector& rhv);
Joeatsumi 0:6a28eb668082 51 Vector operator-(const Vector& lhv, const Vector& rhv);
Joeatsumi 0:6a28eb668082 52 Vector Cross(const Vector& lhv, const Vector& rhv);
Joeatsumi 0:6a28eb668082 53 Vector operator*(const float c, const Vector& rhv);
Joeatsumi 0:6a28eb668082 54 Vector operator*(const Vector& lhv, const float c);
Joeatsumi 0:6a28eb668082 55 float operator*(const Vector& lhv, const Vector& rhv);
Joeatsumi 0:6a28eb668082 56