#include <VcstMath.h>

Static Public Member Functions
static double	calculateMag (const double aVector[VEC_SIZE])

static double	calcQuatMag (const double aQuat[QUAT_SIZE])

static void	calculateCross (const double aUvector[VEC_SIZE], const double aVvector[VEC_SIZE], double anOutVector[VEC_SIZE])

static double	calculateDot (const double aUvector[VEC_SIZE], const double aVvector[VEC_SIZE])

static double	calculateDotQuat (const double aUquat[QUAT_SIZE], const double aVquat[QUAT_SIZE])

static void	applyScalar (const double aScalar, double aVector[VEC_SIZE])

static void	applyScalarQuat (const double aScalar, double aQuat[QUAT_SIZE])

static void	conjugateQuat (const double aQuat[QUAT_SIZE], double outQuat[QUAT_SIZE])

static void	quatMultiply (const double q1[QUAT_SIZE], const double q2[QUAT_SIZE], double outQuat[QUAT_SIZE])

static void	quatMultiplyMatrix (const double q1[QUAT_SIZE], const double q2[QUAT_SIZE], double outQuat[QUAT_SIZE])

static void	matrixMultiply (const double aM1[VEC_SIZE][VEC_SIZE], const double aM2[VEC_SIZE][VEC_SIZE], double outMatrix[VEC_SIZE][VEC_SIZE])

static void	matrixMultiply (const int dimM, const int dimN, const int dimP, const double aMByN, const double aNByP, double *outMatrix)

static void	transposeMatrix (const double inMatrix[VEC_SIZE][VEC_SIZE], double outMatrix[VEC_SIZE][VEC_SIZE])

static void	transposeQuat (const double inQuat[QUAT_SIZE], double outQuat[QUAT_SIZE])

static void	printMatrixCOut (const double aMatrix[VEC_SIZE][VEC_SIZE])

static void	printVectorCOut (const double aVector[VEC_SIZE])

static void	printQuaternionCOut (const double aQuat[QUAT_SIZE])

static void	matrixVectorProduct (const double aMatrix[VEC_SIZE][VEC_SIZE], const double aVector[VEC_SIZE], double outVec[VEC_SIZE])

static void	calculateUnitVector (const double aVector[VEC_SIZE], double unitVector[VEC_SIZE])

static void	normalizeQuat (double aQuat[QUAT_SIZE])

static void	inverseMatrix (const double matA[VEC_SIZE][VEC_SIZE], double matR[VEC_SIZE][VEC_SIZE])

static void	rotationMatrix (const double angle, const short axis, double outMatrix[VEC_SIZE][VEC_SIZE])

static double	calculateDeterminant (const double matA[VEC_SIZE][VEC_SIZE])

static void	cofactorMatrix (const double matA[VEC_SIZE][VEC_SIZE], double cof[VEC_SIZE][VEC_SIZE])

Detailed Description

The VcstMath class contains general math functions.

Definition at line 22 of file VcstMath.h.

Member Function Documentation

◆ applyScalar()

static void applyScalar	(	const double	aScalar,
		double	aVector[VEC_SIZE]
	)

static

This function will apply a scalar value to each component of a vector.

Parameters

aScalar	Input scalar value
aVector	Input/Output vector with scalar applied

Returns: void

◆ applyScalarQuat()

static void applyScalarQuat	(	const double	aScalar,
		double	aQuat[QUAT_SIZE]
	)

static

This function will apply a scalar value to each component of a quaternion.

Parameters

aScalar	Input scalar value
aQuat	Input/Output quaternion with scalar applied

Returns: void

◆ calcQuatMag()

static double calcQuatMag ( const double aQuat[QUAT_SIZE] )

static

This function computes the magnitude of a quaternion.

Parameters

aQuat Input quaternion

Returns: double

◆ calculateCross()

static void calculateCross	(	const double	aUvector[VEC_SIZE],
		const double	aVvector[VEC_SIZE],
		double	anOutVector[VEC_SIZE]
	)

static

This function produces the cross product of 2 vectors.

aUvector Input vector aVvector Input vector anOutVector Output cross product

Returns: PRO_SUCCESS or an error code

◆ calculateDeterminant()

static double calculateDeterminant ( const double matA[VEC_SIZE][VEC_SIZE] )

static

This function calculates the determinant of a matrix.

Parameters

matA	Input matrix

Returns: double

◆ calculateDot()

static double calculateDot	(	const double	aUvector[VEC_SIZE],
		const double	aVvector[VEC_SIZE]
	)

static

This function calculates the dot product of 2 vectors.

Parameters

aUvector	Input vector
aVvector	Input vector

Returns: double

◆ calculateDotQuat()

static double calculateDotQuat	(	const double	aUquat[QUAT_SIZE],
		const double	aVquat[QUAT_SIZE]
	)

static

This function calculates the dot product of 2 quaternions.

Parameters

aUquat	Input quaternion
aVquat	Input quaternion

Returns: double

◆ calculateMag()

static double calculateMag ( const double aVector[VEC_SIZE] )

static

This function computes the magnitude of a vector.

Parameters

aVector Input vector

Returns: double

◆ calculateUnitVector()

static void calculateUnitVector	(	const double	aVector[VEC_SIZE],
		double	unitVector[VEC_SIZE]
	)

static

This function creates a unit vector.

Parameters

aVector	Input vector
unitVector	Output unit vector

Returns: Void

◆ cofactorMatrix()

static void cofactorMatrix	(	const double	matA[VEC_SIZE][VEC_SIZE],
		double	cof[VEC_SIZE][VEC_SIZE]
	)

static

This function calculates the cofactor of a matrix.

Parameters

matA	Input matrix
cof	Output cofactor matrix

Returns: Void

◆ conjugateQuat()

static void conjugateQuat	(	const double	aQuat[QUAT_SIZE],
		double	outQuat[QUAT_SIZE]
	)

static

This function calculates the conjugate of a quaternion.

The conjugate of a quaternion Q, is Q* which has the property that Q X Q* = 1 using quaternion multiplication. Where 1 is the identity quaternion, or the real value 1.0. In quaternion notation (q1,q2,q3,q4) this is (0,0,0,1). The conjugate of a quaternion Q, is formed by reversing the signs of the vector part and not the scalar, so: Q* = (-q1, -q2, -q3, q4)

Parameters

aQuat	Input quaternion Q
outQuat	Output quaternion conjugate Q*

Returns: Void

◆ inverseMatrix()

static void inverseMatrix	(	const double	matA[VEC_SIZE][VEC_SIZE],
		double	matR[VEC_SIZE][VEC_SIZE]
	)

static

This function creates the inverse of a 3x3 matrix.

Parameters

matA	Input matrix
matR	Output inverse of input matrix

Returns: Void

◆ matrixMultiply() [1/2]

static void matrixMultiply	(	const double	aM1[VEC_SIZE][VEC_SIZE],
		const double	aM2[VEC_SIZE][VEC_SIZE],
		double	outMatrix[VEC_SIZE][VEC_SIZE]
	)

static

This function will multiply two matrices together.

Parameters

aM1	Input matrix
aM2	Input matrix
outMatrix	Output product of the 2 input matrices

Returns: void

◆ matrixMultiply() [2/2]

static void matrixMultiply	(	const int	dimM,
		const int	dimN,
		const int	dimP,
		const double *	aMByN,
		const double *	aNByP,
		double *	outMatrix
	)

static

This function will multiply two matrices (MByN NByP) together.

Parameters

dimM	Input Dimension of M.
dimN	Input Dimension of N.
dimP	Input Dimension of P.
aMByN	Input matrix
aNByP	Input matrix
outMatrix	Output product of the 2 input matrices

Returns: void

◆ matrixVectorProduct()

static void matrixVectorProduct	(	const double	aMatrix[VEC_SIZE][VEC_SIZE],
		const double	aVector[VEC_SIZE],
		double	outVec[VEC_SIZE]
	)

static

This function multiplies a matrix times a vector.

Parameters

aMatrix	Input matrix
aVector	Input vector

Returns: Void

◆ normalizeQuat()

static void normalizeQuat ( double aQuat[QUAT_SIZE] )

static

This function normalizes a quaternion. This is the analog to calculateUnitVector() for quaternions. By definition, |Q| = sqrt(q1*q1 + q2*q2 + q3*q3 + q4*q4) = 1.

Parameters

aQuat Input/Output quaternion

Returns: Void

◆ printMatrixCOut()

static void printMatrixCOut ( const double aMatrix[VEC_SIZE][VEC_SIZE] )

static

This function will print the contents of a matrix. This method is for debugging and unit test only.

Parameters

aMatrix Input matrix

Returns: Void

◆ printQuaternionCOut()

static void printQuaternionCOut ( const double aQuat[QUAT_SIZE] )

static

This function will print the contents of a quaternion. This method is for debugging and unit test only.

Parameters

aQuat Input quaternion

Returns: Void

◆ printVectorCOut()

static void printVectorCOut ( const double aVector[VEC_SIZE] )

static

This function will print the contents of a vector. This method is for debugging and unit test only.

Parameters

aVector Input vector

Returns: Void

◆ quatMultiply()

static void quatMultiply	(	const double	q1[QUAT_SIZE],
		const double	q2[QUAT_SIZE],
		double	outQuat[QUAT_SIZE]
	)

static

This function will multiply two quaternions together.

q1 Input quaternion q2 Input quaternion outQuat Output quaternion product

Returns: PRO_SUCCESS or an error code

◆ quatMultiplyMatrix()

static void quatMultiplyMatrix	(	const double	q1[QUAT_SIZE],
		const double	q2[QUAT_SIZE],
		double	outQuat[QUAT_SIZE]
	)

static

This alternate function will multiply two quaternions together using common matrix notation.

q1 Input quaternion q2 Input quaternion outQuat Output quaternion product

Returns: PRO_SUCCESS or an error code

◆ rotationMatrix()

static void rotationMatrix	(	const double	angle,
		const short	axis,
		double	outMatrix[VEC_SIZE][VEC_SIZE]
	)

static

This function creates a rotation matrix through the specified angle about the specified axis.

Parameters

angle	Input angle of positive rotation
axis	Input axis of positive rotation
matR	Output rotation matrix

Returns: Void

◆ transposeMatrix()

static void transposeMatrix	(	const double	inMatrix[VEC_SIZE][VEC_SIZE],
		double	outMatrix[VEC_SIZE][VEC_SIZE]
	)

static

This function will transpose a matrix.

Parameters

inMatrix	Input matrix
outMatrix	Output transpose of input matrix

Returns: void

◆ transposeQuat()

static void transposeQuat	(	const double	inQuat[QUAT_SIZE],
		double	outQuat[QUAT_SIZE]
	)

static

This function will transpose a quaternion. NOTE: for quaternions, the transpose is the inverse. For the quaternion Q = q1 q2 q3 q4, the inverse is -Q = -q1 -q2 -q3 -q4

Parameters

inQuat	Input quaternion
outQuat	Output transpose of input quaternion

Returns: void

The documentation for this class was generated from the following file:

/gfs-oceanweb/web/ocssw/ocssw_src/include/ViirsCmn/VcstMath.h

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ applyScalar()

◆ applyScalarQuat()

◆ calcQuatMag()

◆ calculateCross()

◆ calculateDeterminant()

◆ calculateDot()

◆ calculateDotQuat()

◆ calculateMag()

◆ calculateUnitVector()

◆ cofactorMatrix()

◆ conjugateQuat()

◆ inverseMatrix()

◆ matrixMultiply() [1/2]

◆ matrixMultiply() [2/2]

◆ matrixVectorProduct()

◆ normalizeQuat()

◆ printMatrixCOut()

◆ printQuaternionCOut()

◆ printVectorCOut()

◆ quatMultiply()

◆ quatMultiplyMatrix()

◆ rotationMatrix()

◆ transposeMatrix()

◆ transposeQuat()