MRP.h

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/*
MRP header file
 
Author: Alex Reynolds
*/
#ifndef SIX_DOF_DYNAMICS_MRP_HPP
#define SIX_DOF_DYNAMICS_MRP_HPP
 
#include <cmath>
 
#include "core/Matrix.hpp"
#include "core/CartesianVector.hpp"
#include "core/safemath.h"
#include "core/matrixmath.hpp"
#include "core/vectormath.hpp"
 
#include "DCM.h"
#include "Quaternion.h"
 
namespace clockwerk {

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

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

        MRP(const MRP &initial);

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

        ~MRP() {}

        void shadow();

        void rate(const CartesianVector<3> &omega_f1_f2__f1, Matrix<3, 1> &mrpdot_f1_f2);

        int16 toDCM(DCM &dcm_f1_f2) const;
        DCM toDCM() const;

        int16 toQuaternion(Quaternion &quat_f1_f2) const;
        Quaternion toQuaternion() const;
    };
 
}
 
#endif