NumCpp
2.12.1
A Templatized Header Only C++ Implementation of the Python NumPy Library
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Data Structures | |
class | DCM |
Factory methods for generating direction cosine matrices and vectors. More... | |
class | Quaternion |
Holds a unit quaternion. More... | |
Functions | |
template<typename dtype > | |
NdArray< double > | rodriguesRotation (const NdArray< dtype > &k, double theta, const NdArray< dtype > &v) |
Vec3 | rodriguesRotation (const Vec3 &k, double theta, const Vec3 &v) noexcept |
template<typename dtype > | |
NdArray< double > | wahbasProblem (const NdArray< dtype > &wk, const NdArray< dtype > &vk) |
template<typename dtype > | |
NdArray< double > | wahbasProblem (const NdArray< dtype > &wk, const NdArray< dtype > &vk, const NdArray< dtype > &ak) |
NdArray< double > nc::rotations::rodriguesRotation | ( | const NdArray< dtype > & | k, |
double | theta, | ||
const NdArray< dtype > & | v | ||
) |
Performs Rodriques' rotation formula https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula
k | the axis to rotate around |
theta | the angle in radians to rotate |
v | the vector to rotate |
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inlinenoexcept |
Performs Rodriques' rotation formula https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula
k | the axis to rotate around |
theta | the angle in radians to rotate |
v | the vector to rotate |
NdArray< double > nc::rotations::wahbasProblem | ( | const NdArray< dtype > & | wk, |
const NdArray< dtype > & | vk | ||
) |
Finds a rotation matrix (special orthogonal matrix) between two coordinate systems from a set of (weighted) vector observations. Solutions to Wahba's problem are often used in satellite attitude determination utilising sensors such as magnetometers and multi-antenna GPS receivers https://en.wikipedia.org/wiki/Wahba%27s_problem
wk | k-th 3-vector measurement in the reference frame |
vk | corresponding k-th 3-vector measurement in the body frame |
NdArray< double > nc::rotations::wahbasProblem | ( | const NdArray< dtype > & | wk, |
const NdArray< dtype > & | vk, | ||
const NdArray< dtype > & | ak | ||
) |
Finds a rotation matrix (special orthogonal matrix) between two coordinate systems from a set of (weighted) vector observations. Solutions to Wahba's problem are often used in satellite attitude determination utilising sensors such as magnetometers and multi-antenna GPS receivers https://en.wikipedia.org/wiki/Wahba%27s_problem
wk | k-th 3-vector measurement in the reference frame (n x 3 matrix) |
vk | corresponding k-th 3-vector measurement in the body frame (n x 3 matrix) |
ak | set of weights for each observation (1 x n or n x 1 matrix) |