Template Function navtk::navutils::rot_vec_to_dcm(const S&)

• Defined in File navigation.hpp

Function Documentation

template<typename S = Vector, IfTensorOfDim<S, 1>* = nullptr>
Matrix3 navtk::navutils::rot_vec_to_dcm(const S &phi)

Conversion from rotation vector to direction cosine matrix using truncated series approach.

See eq 3.2.2.1-8 and 3.2.2.1-9 (or 7.1.1.1-3) in Savage, or equivalently eq.11.4-11.1 in T+W 2nd ed.

See also

Coordinate Frames for more details on the rotation vector and DCM representations of attitude.

Template Parameters

• S – Type of phi, initializer list by default.

• std::enable_if_t<> – Constrains S to be 1 dimensional.

Parameters

phi – A rotation vector such that rotating the A frame about phi yields the B frame, shape (3). Can accept an initializer list.

Returns

dcm Direction cosine matrix from B to A, that is the DCM that rotates a vector expressed in the B frame into the A frame, shape (3, 3).