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<div class="title">Attitude.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//-*- C++ -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">//-*- coding: utf-8 -*-</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Author: Bryan V. Riel</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Copyright 2018</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "forward.h"</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <string></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "Constants.h"</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "DateTime.h"</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Attitude.html"> 18</a></span> <span class="keyword">class </span><a class="code" href="classisce3_1_1core_1_1Attitude.html">isce3::core::Attitude</a> {</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">enum class</span> Type { EulerAngles_t, Quaternion_t };</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Attitude.html#a7e79af58a6c610ccc6bcdc815351933d"> 24</a></span>  <a class="code" href="classisce3_1_1core_1_1Attitude.html#a7e79af58a6c610ccc6bcdc815351933d">Attitude</a>(Attitude::Type atype) : _attitude_type(atype) {};</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">virtual</span> <a class="code" href="classisce3_1_1core_1_1Attitude.html#a2d73b1d9d536d674f88d9bed989ab36a">~Attitude</a>();</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classisce3_1_1core_1_1Attitude.html#a2864c2ffb5604fe1b73ff36c2b8aac54">ypr</a>(<span class="keywordtype">double</span> tintp, <span class="keywordtype">double</span>& yaw, <span class="keywordtype">double</span>& pitch, <span class="keywordtype">double</span>& roll) = 0;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">virtual</span> <a class="code" href="classisce3_1_1core_1_1DenseMatrix.html">Mat3</a> <a class="code" href="classisce3_1_1core_1_1Attitude.html#a85430f761ed4f1b1fe8949a8c1d735dc">rotmat</a>(<span class="keywordtype">double</span> tintp, <span class="keyword">const</span> std::string, <span class="keywordtype">double</span> d0 = 0,</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">double</span> d1 = 0, <span class="keywordtype">double</span> d2 = 0, <span class="keywordtype">double</span> d3 = 0) = 0;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Attitude.html#ae7d4f5855a6e8790033ece257c568a12"> 37</a></span>  <span class="keyword">inline</span> Attitude::Type <a class="code" href="classisce3_1_1core_1_1Attitude.html#ae7d4f5855a6e8790033ece257c568a12">attitudeType</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _attitude_type; }</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Attitude.html#adba6db793e2f929d9e970d2bfc9a7ac4"> 40</a></span>  <span class="keyword">inline</span> std::string <a class="code" href="classisce3_1_1core_1_1Attitude.html#adba6db793e2f929d9e970d2bfc9a7ac4">yawOrientation</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _yaw_orientation; }</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classisce3_1_1core_1_1Attitude.html#adba6db793e2f929d9e970d2bfc9a7ac4">yawOrientation</a>(<span class="keyword">const</span> std::string);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">// Private data members</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  Attitude::Type _attitude_type;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  std::string _yaw_orientation;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> };</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment">// Go ahead and define setYawOrientation here</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classisce3_1_1core_1_1Attitude.html#a66f8751a670f4054fbe7fe5db1b4e528"> 52</a></span> <span class="keywordtype">void</span> <a class="code" href="classisce3_1_1core_1_1Attitude.html#adba6db793e2f929d9e970d2bfc9a7ac4">isce3::core::Attitude::yawOrientation</a>(<span class="keyword">const</span> std::string orientation) {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  _yaw_orientation = orientation;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> }</div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html_a85430f761ed4f1b1fe8949a8c1d735dc"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html#a85430f761ed4f1b1fe8949a8c1d735dc">isce3::core::Attitude::rotmat</a></div><div class="ttdeci">virtual Mat3 rotmat(double tintp, const std::string, double d0=0, double d1=0, double d2=0, double d3=0)=0</div><div class="ttdoc">Virtual function return rotation matrix with optional perturbations. </div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html_a2d73b1d9d536d674f88d9bed989ab36a"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html#a2d73b1d9d536d674f88d9bed989ab36a">isce3::core::Attitude::~Attitude</a></div><div class="ttdeci">virtual ~Attitude()</div><div class="ttdoc">Virtual destructor. </div><div class="ttdef"><b>Definition:</b> Attitude.cpp:11</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html">isce3::core::Attitude</a></div><div class="ttdoc">Base class for attitude data representation. </div><div class="ttdef"><b>Definition:</b> Attitude.h:18</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html_a7e79af58a6c610ccc6bcdc815351933d"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html#a7e79af58a6c610ccc6bcdc815351933d">isce3::core::Attitude::Attitude</a></div><div class="ttdeci">Attitude(Attitude::Type atype)</div><div class="ttdoc">Constructor using time attitude representation type. </div><div class="ttdef"><b>Definition:</b> Attitude.h:24</div></div>
<div class="ttc" id="classisce3_1_1core_1_1DenseMatrix_html"><div class="ttname"><a href="classisce3_1_1core_1_1DenseMatrix.html">isce3::core::DenseMatrix</a></div><div class="ttdef"><b>Definition:</b> DenseMatrix.h:13</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html_ae7d4f5855a6e8790033ece257c568a12"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html#ae7d4f5855a6e8790033ece257c568a12">isce3::core::Attitude::attitudeType</a></div><div class="ttdeci">Attitude::Type attitudeType() const </div><div class="ttdoc">Return type of attitude representation - quaternion or euler angle. </div><div class="ttdef"><b>Definition:</b> Attitude.h:37</div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html_a2864c2ffb5604fe1b73ff36c2b8aac54"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html#a2864c2ffb5604fe1b73ff36c2b8aac54">isce3::core::Attitude::ypr</a></div><div class="ttdeci">virtual void ypr(double tintp, double &yaw, double &pitch, double &roll)=0</div><div class="ttdoc">Virtual function to return yaw, pitch, roll. </div></div>
<div class="ttc" id="classisce3_1_1core_1_1Attitude_html_adba6db793e2f929d9e970d2bfc9a7ac4"><div class="ttname"><a href="classisce3_1_1core_1_1Attitude.html#adba6db793e2f929d9e970d2bfc9a7ac4">isce3::core::Attitude::yawOrientation</a></div><div class="ttdeci">std::string yawOrientation() const </div><div class="ttdoc">Return yaw orientation - central or normal. </div><div class="ttdef"><b>Definition:</b> Attitude.h:40</div></div>
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