/// <summary>
/// 转换为欧拉角表示形式的外方元素
/// </summary>
/// <returns></returns>
public OutsideElement ToOutElem3()
{
OutsideElement oe = new OutsideElement();
oe.Spos = Spos.Clone();
oe.omega = Math.Asin(-2 * (q2 * q3 - q0 * q1));
if (oe.omega < -Math.PI)
{
oe.omega += 2 * Math.PI;
}
oe.phi = Math.Atan2(-2 * (q1 * q3 + q0 * q2) * Math.Cos(oe.omega),
(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * Math.Cos(oe.omega));
if (oe.phi < -Math.PI)
{
oe.phi += 2 * Math.PI;
}
oe.kappa = Math.Atan2(2 * (q1 * q2 + q0 * q3) * Math.Cos(oe.omega),
(q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3) * Math.Cos(oe.omega));
if (oe.kappa < -Math.PI)
{
oe.kappa += 2 * Math.PI;
}
return(oe);
}
/// <summary>
/// 转换为四元数形式???
/// </summary>
/// <returns></returns>
public OutElement4 ToOutElem4()
{
OutElement4 oe = new OutElement4();
oe.Spos = Spos.Clone();
double cosp = Math.Cos(GetRad(phi) / 2),
sinp = Math.Sin(GetRad(phi) / 2),
coso = Math.Cos(GetRad(omega) / 2),
sino = Math.Sin(GetRad(omega) / 2),
cosk = Math.Cos(GetRad(kappa) / 2),
sink = Math.Sin(GetRad(kappa) / 2);
oe.q2 = sinp * coso * cosk + cosp * sino * sink;
oe.q1 = cosp * sino * cosk - sinp * coso * sink;
oe.q3 = cosp * coso * sink + sinp * sino * cosk;
oe.q0 = cosp * coso * cosk - sinp * sino * sink;
return(oe);
}