SpatialMath

Documentation

module Xyz

module Quat

data Xyz a

Constructors

Xyz a a a

Instances

Functor Xyz

Typeable1 Xyz

Eq a => Eq (Xyz a)

(Fractional (Xyz a), Floating a) => Floating (Xyz a)

(Num (Xyz a), Fractional a) => Fractional (Xyz a)

(Typeable (Xyz a), Data a) => Data (Xyz a)

Num a => Num (Xyz a)

Show a => Show (Xyz a)

Random a => Random (Xyz a)

data Quat a

Constructors

Quat a a a a

Instances

Functor Quat

Typeable1 Quat

Eq a => Eq (Quat a)

(Typeable (Quat a), Data a) => Data (Quat a)

(Num a, Ord a) => Num (Quat a)

Show a => Show (Quat a)

data Euler a

Constructors

Euler a a a

Instances

Functor Euler

Typeable1 Euler

Eq a => Eq (Euler a)

(Typeable (Euler a), Data a) => Data (Euler a)

Show a => Show (Euler a)

rotateXyzAboutX :: Floating a => Xyz a -> a -> Xyz a

rotateXyzAboutY :: Floating a => Xyz a -> a -> Xyz a

rotateXyzAboutZ :: Floating a => Xyz a -> a -> Xyz a

euler321OfQuat :: RealFloat a => Quat a -> Euler a

euler321OfDcm :: (RealFloat a, Storable a) => Matrix a -> Euler a

quatOfEuler321 :: (Floating a, Ord a) => Euler a -> Quat a

dcmOfQuat :: (Num a, Element a) => Quat a -> Matrix a

dcmOfQuatB2A :: (Num a, Element a) => Quat a -> Matrix a

dcmOfEuler321 :: (Floating a, Element a, Ord a) => Euler a -> Matrix a

quatOfDcm :: (Storable a, RealFloat a) => Matrix a -> Quat a

quatOfDcmB2A :: (Storable a, RealFloat a) => Matrix a -> Quat a

rotVecByDcm :: (Num a, Storable a) => Matrix a -> Xyz a -> Xyz a

vec_b = R_a2b * vec_a

rotVecByDcmB2A :: (Num a, Storable a) => Matrix a -> Xyz a -> Xyz a

vec_a = R_a2b^T * vec_b

rotVecByQuat :: (Num a, Element a) => Quat a -> Xyz a -> Xyz a

vec_b = q_a2b * vec_a * q_a2b^(-1) vec_b = R(q_a2b) * vec_a

rotVecByQuatB2A :: (Num a, Element a) => Quat a -> Xyz a -> Xyz a

rotVecByEuler :: (Floating a, Element a, Ord a) => Euler a -> Xyz a -> Xyz a

rotVecByEulerB2A :: (Floating a, Element a, Ord a) => Euler a -> Xyz a -> Xyz a