Merge branch 'vivian/trainz'

[flightgear.git] / src / FDM / JSBSim / math / FGQuaternion.h

diff --git a/src/FDM/JSBSim/math/FGQuaternion.h b/src/FDM/JSBSim/math/FGQuaternion.h
index a23ced79a6c7782be5a275fbd914ceefa7240d7f..73c0e009a0833807242b1d1efb87e284caee9c62 100644 (file)
--- a/src/FDM/JSBSim/math/FGQuaternion.h
+++ b/src/FDM/JSBSim/math/FGQuaternion.h
@@ -4,24 +4,24 @@
  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
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
  Foundation; either version 2 of the License, or (at your option) any later
  version.
 
  This program is distributed in the hope that it will be useful, but WITHOUT
  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  details.
 
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  Place - Suite 330, Boston, MA  02111-1307, USA.
 
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
  the world wide web at http://www.gnu.org.
 
 HISTORY
@@ -40,10 +40,10 @@ SENTRY
   INCLUDES
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
 #include "FGMatrix33.h"
 #include "FGColumnVector3.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   DEFINITIONS
@@ -146,11 +146,13 @@ public:
   /// 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.
@@ -166,7 +168,7 @@ public:
   /** 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;
@@ -174,9 +176,10 @@ public:
 
   /** 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);
@@ -186,7 +189,7 @@ public:
       @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);
@@ -237,8 +240,8 @@ public:
       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.
@@ -252,8 +255,8 @@ public:
       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.
@@ -481,7 +484,7 @@ private:
 /** 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.
 */