spatial-math 0.2.6.0 → 0.2.7.0

raw patch · 2 files changed

+14/−11 lines, 2 files

Files

• spatial-math.cabal +1/−1
• src/SpatialMath.hs +13/−10

@@ -1,5 +1,5 @@ name:                spatial-math-version:             0.2.6.0+version:             0.2.7.0 synopsis:            3d math including quaternions/euler angles/dcms and utility functions description:         This is a port of my 'mathlib' C library: `https://github.com/ghorn/mathlib` license:             BSD3

@@ -167,8 +167,8 @@     fourQ0 = 4 * q0  -quatOfDcmB2A :: (Conjugate a, RealFloat a) => M33 a -> Quaternion a-quatOfDcmB2A = conjugate . quatOfDcm+quatOfDcmB2A :: Floating a => M33 a -> Quaternion a+quatOfDcmB2A = quatConjugate . quatOfDcm  -- | Convert DCM to euler angles --@@ -181,7 +181,7 @@ -- >>> let s = sqrt(2)/2 in euler321OfDcm $ V3 (V3 s s 0) (V3 (-s) s 0) (V3 0 0 1) -- Euler {eYaw = 0.7853981633974483, ePitch = -0.0, eRoll = 0.0} ---euler321OfDcm :: RealFloat a => M33 a -> Euler a+euler321OfDcm :: (Ord a, ArcTan2 a) => M33 a -> Euler a euler321OfDcm   (V3    (V3 r11 r12 r13)@@ -194,9 +194,9 @@       | mr13' < -1 = -1       | otherwise = mr13' -    yaw   = atan2 r12 r11+    yaw   = arctan2 r12 r11     pitch = asin mr13-    roll  = atan2 r23 r33+    roll  = arctan2 r23 r33  -- | Convert DCM to euler angles. Returns Nan if r[1,3] is outside (-1, 1). --@@ -212,16 +212,16 @@ -- >>> unsafeEuler321OfDcm $ V3 (V3 0 0 1.1) (V3 0 0 0) (V3 0 0 0) -- Euler {eYaw = 0.0, ePitch = NaN, eRoll = 0.0} ---unsafeEuler321OfDcm :: RealFloat a => M33 a -> Euler a+unsafeEuler321OfDcm :: ArcTan2 a => M33 a -> Euler a unsafeEuler321OfDcm   (V3    (V3 r11 r12 r13)    (V3   _   _ r23)    (V3   _   _ r33)) = Euler yaw pitch roll   where-    yaw   = atan2 r12 r11+    yaw   = arctan2 r12 r11     pitch = asin (-r13)-    roll  = atan2 r23 r33+    roll  = arctan2 r23 r33  -- | Convert Euler angles to quaternion --@@ -306,8 +306,11 @@       (V3 (cPs*sTh*sPh - cPh*sPs) ( cPh*cPs + sTh*sPh*sPs) (cTh*sPh))       (V3 (cPh*cPs*sTh + sPh*sPs) (-cPs*sPh + cPh*sTh*sPs) (cTh*cPh)) -dcmOfQuatB2A :: (Conjugate a, RealFloat a) => Quaternion a -> M33 a-dcmOfQuatB2A = dcmOfQuat . conjugate+quatConjugate :: Num a => Quaternion a -> Quaternion a+quatConjugate (Quaternion q0 qv) = Quaternion q0 (fmap negate qv)++dcmOfQuatB2A :: Num a => Quaternion a -> M33 a+dcmOfQuatB2A = dcmOfQuat . quatConjugate  -- | vec_b = R_a2b * vec_a rotVecByDcm :: Num a => M33 a -> V3 a -> V3 a