additional axes ctors

Author: andreapasquale94

src/Definitions/attitude.jl

@@ -0,0 +1,57 @@
+
+"""
+    add_axes_fixed_quaternion!(frames::FrameSystem, name::Symbol, id::Int, parent, q::Quaternion)
+   
+Add axes `name` with id `id` to `frames` with a fixed-offset from `parent`. 
+Fixed offset axes have a constant orientation with respect to their `parent` axes, 
+represented by the quaternion `q`.
+
+### See also 
+See also [`add_axes_fixedoffset!`](@ref).
+"""
+function add_axes_fixed_quaternion!(
+    frames::FrameSystem, name::Symbol, id::Int, parent, q::Quaternion
+)
+    add_axes_fixedoffset!(frames, name, id, parent, quat_to_dcm(q))
+end
+
+"""
+    add_axes_fixed_angles!(frames, name::Symbol, id::Int, parent, θ::AbstractVector{N}, seq::Symbol)
+   
+Add axes `name` with id `id` to `frames` with a fixed-offset from `parent`. 
+Fixed offset axes have a constant orientation with respect to their `parent` axes, 
+represented by Euler angles `θ`.
+
+The rotation sequence is defined by `seq` specifing the rotation axes. The possible
+values depends on the number of rotations as follows:
+
+- **1 rotation** (`θ₁`): `:X`, `:Y`, or `:Z`.
+- **2 rotations** (`θ₁`, `θ₂`): `:XY`, `:XZ`, `:YX`, `:YZ`, `:ZX`, or `:ZY`.
+- **3 rotations** (`θ₁`, `θ₂`, `θ₃`): `:XYX`, `XYZ`, `:XZX`, `:XZY`, `:YXY`, `:YXZ`, `:YZX`,
+    `:YZY`, `:ZXY`, `:ZXZ`, `:ZYX`, or `:ZYZ`
+
+### See also 
+See also [`add_axes_fixedoffset!`](@ref).
+"""
+function add_axes_fixed_angles!(
+    frames::FrameSystem, name::Symbol, id::Int, parent, θ::AbstractVector{N}, seq::Symbol
+) where {N}
+    add_axes_fixedoffset!(frames, name, id, parent, angle_to_dcm(θ..., seq))
+end
+
+"""
+    add_axes_fixed_angleaxis!(frames, name::Symbol, id::Int, parent, ϕ::Number, v::AbstractVector{N})
+   
+Add axes `name` with id `id` to `frames` with a fixed-offset from `parent`. 
+Fixed offset axes have a constant orientation with respect to their `parent` axes, 
+represented by Euler angle `ϕ` [rad] and Euler axis `v`.
+
+### See also 
+See also [`add_axes_fixedoffset!`](@ref).
+"""
+function add_axes_fixed_angleaxis!(
+    frames::FrameSystem, name::Symbol, id::Int, parent, ϕ::Number, v::AbstractVector{N}
+) where {N}
+    naxis = unitvec(v)
+    add_axes_fixedoffset!(frames, name, id, parent, angleaxis_to_dcm(ϕ, naxis))
+end

src/Definitions/axesfromdir.jl

@@ -0,0 +1,75 @@
+"""
+    function add_axes_twodir!(frames::FrameSystem{O,T}, name::Symbol, id, parent, 
+        dir1::Symbol, dir2::Symbol, seq::Symbol; project::Bool=false) where {O,T}
+
+Add a set of axes to `frames` based on two directions. 
+
+A right-handed coordinate system is generated based on the specified sequence direction (`seq`), 
+which determines the order in which the vectors are used to define the basis. 
+The `project` flag specifies whether the resulting axes are inertial or not.
+
+### See also 
+See also [`add_axes_projected!`](@ref) and [`add_axes_rotating!`](@ref).
+"""
+function add_axes_twodir!(
+    frames::FrameSystem{O,T}, name::Symbol, id, parent, dir1::Symbol, dir2::Symbol, seq::Symbol;
+    project::Bool=false
+) where {O,T}
+
+    fun = t -> twodir_to_dcm(
+        direction3(frames, dir1, parent, t), direction3(frames, dir2, parent, t), seq
+    )
+
+    if project
+        add_axes_projected!(frames, name, id, parent, fun)
+    else
+        add_axes_rotating!(frames, name, id, parent, fun)
+    end
+end
+
+function _two_dir_basis(a::AbstractVector, b::AbstractVector,
+    seq::Symbol, fc::Function)
+
+    if seq == :XY
+        w = fc(a, b)
+        v = fc(w, a)
+        u = a
+
+    elseif seq == :YX
+        w = fc(b, a)
+        u = fc(a, w)
+        v = a
+
+    elseif seq == :XZ
+        v = fc(b, a)
+        w = fc(a, v)
+        u = a
+
+    elseif seq == :ZX
+        v = fc(a, b)
+        u = fc(v, a)
+        w = a
+
+    elseif seq == :YZ
+        u = fc(a, b)
+        w = fc(u, a)
+        v = a
+
+    elseif seq == :ZY
+        u = fc(b, a)
+        v = fc(a, u)
+        w = a
+    else
+        throw(ArgumentError("Invalid rotation sequence $seq."))
+    end
+
+    return u, v, w
+end
+
+function twodir_to_dcm(a::AbstractVector, b::AbstractVector, seq::Symbol)
+    ut, vt, wt = _two_dir_basis(a, b, seq, cross3)
+    u, v, w = unitvec(ut), unitvec(vt), unitvec(wt)
+
+    @inbounds dcm = DCM((u[1], v[1], w[1], u[2], v[2], w[2], u[3], v[3], w[3]))
+    return dcm
+end

src/FrameTransformations.jl

@@ -6,8 +6,10 @@ using ReferenceFrameRotations
 using FunctionWrappers: FunctionWrapper
 using FunctionWrappersWrappers: FunctionWrappersWrapper
 
-using JSMDUtils.Math: D¹, D², D³, unitvec, cross3, arcsec2rad, angle_to_δdcm, angle_to_δdcm,
-       angle_to_δ²dcm, angle_to_δ³dcm
+using JSMDUtils.Math: D¹, D², D³, arcsec2rad,
+       unitvec, δunitvec, δ²unitvec, δ³unitvec,
+       cross3, cross6, cross9, cross12,
+       angle_to_δdcm, angle_to_δdcm, angle_to_δ²dcm, angle_to_δ³dcm
 
 using JSMDInterfaces.Graph: AbstractJSMDGraphNode,
        add_edge!, add_vertex!, get_path, has_vertex
@@ -119,4 +121,12 @@ export add_direction_position!, add_direction_velocity!, add_direction_orthogona
 
 include("Definitions/directions.jl")
 
+export add_axes_twodir!
+
+include("Definitions/axesfromdir.jl")
+
+export add_axes_fixed_quaternion!, add_axes_fixed_angles!, add_axes_fixed_angleaxis!
+
+include("Definitions/attitude.jl")
+
 end