Author: Jon Berndt, Mathis Froehlich
Date started: 12/02/98
- ------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) ------------------
+ ------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) ------------------
------- (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) ----
This program is free software; you can redistribute it and/or modify it under
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
#include "FGMatrix33.h"
#include "FGColumnVector3.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
/// Destructor.
~FGQuaternion() {}
- /** Quaternion 'velocity' for given angular rates.
+ /** Quaternion derivative for given angular rates.
Computes the quaternion derivative which results from the given
angular velocities
@param PQR a constant reference to the body rate vector
- @return the quaternion derivative */
+ @return the quaternion derivative
+ @see Stevens and Lewis, "Aircraft Control and Simulation", Second Edition,
+ Equation 1.3-36. */
FGQuaternion GetQDot(const FGColumnVector3& PQR) const;
/** Transformation matrix.
/** Retrieves the Euler angles.
@return a reference to the triad of euler angles corresponding
to this quaternion rotation.
- @units radians */
+ units radians */
const FGColumnVector3& GetEuler(void) const {
ComputeDerived();
return mEulerAngles;
/** Retrieves the Euler angles.
@param i the euler angle index.
+ units radians.
@return a reference to the i-th euler angles corresponding
to this quaternion rotation.
- @units radians */
+ */
double GetEuler(int i) const {
ComputeDerived();
return mEulerAngles(i);
@param i the euler angle index.
@return a reference to the i-th euler angles corresponding
to this quaternion rotation.
- @units degrees */
+ units degrees */
double GetEulerDeg(int i) const {
ComputeDerived();
return radtodeg*mEulerAngles(i);
Return the value of the matrix entry at the given index.
Indices are counted starting with 1.
- This function is just a shortcut for the @ref double
- operator()(unsigned int idx) const function. It is
+ This function is just a shortcut for the <tt>double
+ operator()(unsigned int idx) const</tt> function. It is
used internally to access the elements in a more convenient way.
Note that the index given in the argument is unchecked.
Return a reference to the vector entry at the given index.
Indices are counted starting with 1.
- This function is just a shortcut for the @ref double&
- operator()(unsigned int idx) function. It is
+ This function is just a shortcut for the <tt>double&
+ operator()(unsigned int idx)</tt> function. It is
used internally to access the elements in a more convenient way.
Note that the index given in the argument is unchecked.
/** Scalar multiplication.
@param scalar scalar value to multiply with.
- @param p Vector to multiply.
+ @param q Vector to multiply.
Multiply the Vector with a scalar value.
*/