attitudemath.h

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/*
Matrix math header file
-----------------------
This file defines basic functions for mathematical operations on
the matrix class
Rather than raising an error on fail cases (i.e. divide by zero),
the following libraries are designed to check for errors and return
corresponding codes.
 
Note: The naming convention observed for matrix math is as follows:
- Capital letters represent matrices
- Lowercase letters represent scalars
- All vectors are 1-dimensional matrices for the purpose of math
- Pass by reference return values are all named "result"
- The letter used in math indicates the order of operations - A/a
  comes first, then B/b. A/a or B/b always represent the "other"
  value in an operation
 
Author: Alex Reynolds
*/
 
#ifndef SIX_DOF_DYNAMICS_ATTITUDEMATH_HPP
#define SIX_DOF_DYNAMICS_ATTITUDEMATH_HPP
 
#include "core/Matrix.hpp"
#include "core/clockwerkerrors.h"
#include "core/matrixmath.hpp"
#include "core/vectormath.hpp"
#include "DCM.h"
#include "Quaternion.h"
#include "Euler321.h"
#include "MRP.h"
 
namespace clockwerk {

    DCM operator*(const DCM &A, const DCM &B);
    Euler321 operator*(const Euler321 &a, const Euler321 &b);
    MRP operator*(const MRP &a, const MRP &b);

    CartesianVector<3> operator*(const DCM &A, const CartesianVector<3> &b);
    CartesianVector<3> operator*(const Euler321 &a, const CartesianVector<3> &b);
    CartesianVector<3> operator*(const MRP &a, const CartesianVector<3> &b);
 
}
 
#endif