Euler321.h

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/*
Euler Angle 321 set header file
 
Author: Alex Reynolds
*/
#ifndef SIX_DOF_DYNAMICS_EULER321_HPP
#define SIX_DOF_DYNAMICS_EULER321_HPP
 
#include <cmath>
 
#include "core/Matrix.hpp"
#include "core/CartesianVector.hpp"
#include "core/safemath.h"
#include "core/matrixmath.hpp"
 
#include "DCM.h"
 
namespace clockwerk {

    class Euler321 : public CartesianVector<3> {
    public:
        Euler321();

        Euler321(const floating_point(&initial)[3]);

        Euler321(const Euler321 &initial);

        Euler321(const std::array<floating_point, 3> &initial);

        ~Euler321() {}

        int16 rate(const CartesianVector<3> &omega_f1_f2__f1, Matrix<3, 1> &eulerdot_f1_f2) const;

        void toDCM(DCM &dcm_f1_f2) const;
        DCM toDCM() const;
    };
 
}
 
#endif