From af46a65b6473aafd61535198ca71d0f06f4726c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E7=AC=99=E5=A3=B0=E4=B8=8D=E8=AF=AD?=
 <15495244+Sheng_buyu@user.noreply.gitee.com>
Date: Sat, 15 Mar 2025 08:26:54 +0000
Subject: [PATCH] =?UTF-8?q?update=20AstroLib/Src/AsAttitudeParam=5F2023.cp?=
 =?UTF-8?q?p.=20=E6=8C=89=E8=80=81=E5=B8=88=E5=90=8C=E5=AD=A6=E5=BB=BA?=
 =?UTF-8?q?=E8=AE=AE=E4=BF=AE=E6=94=B9=E4=BA=86=E4=B8=80=E4=B8=8B?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: 笙声不语 <15495244+Sheng_buyu@user.noreply.gitee.com>
---
 AstroLib/Src/AsAttitudeParam_2023.cpp | 28 ++++++++++++---------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/AstroLib/Src/AsAttitudeParam_2023.cpp b/AstroLib/Src/AsAttitudeParam_2023.cpp
index 78d413b..58f715b 100644
--- a/AstroLib/Src/AsAttitudeParam_2023.cpp
+++ b/AstroLib/Src/AsAttitudeParam_2023.cpp
@@ -623,7 +623,7 @@ void AsQuatToEuler323(CQuaternion& quat, CEuler& euler)
 ///***********************************************************************
 /// 根据坐标转移矩阵计算132转序欧拉角
 /// @Author	Wang Deyu
-/// @Date	2025.03.11
+/// @Date	2025.03.15
 /// @Input
 /// @Param	mtx     输入的转移矩阵
 /// @Output	
@@ -631,23 +631,19 @@ void AsQuatToEuler323(CQuaternion& quat, CEuler& euler)
 ///***********************************************************************
 void AsMtxToEuler132(const CMatrix<double>& mtx, CEuler& euler)
 {
-	const double pi = 4 * std::atan(1.0);
 	double cbeta;
-    //处理万向锁
-	if (sqrt(mtx[0][0] * mtx[0][0] + mtx[2][0] * mtx[2][0]) < 1e-6)
+    //处理万向锁	
+	if (fabs(-mtx[1][0] - 1) < 1e-12)
 	{
-		if (-mtx[1][0] > 0)
-		{
-			euler.m_Angle1 = 0;
-			euler.m_Angle2 = pi / 2;
-			euler.m_Angle3 = atan2(-mtx[0][2], mtx[0][1]);
-		}
-		else
-		{
-			euler.m_Angle1 = 0;
-			euler.m_Angle2 = -pi / 2;
-			euler.m_Angle3 = atan2(-mtx[0][2], -mtx[0][1]);
-		}
+		euler.m_Angle1 = 0;
+		euler.m_Angle2 = AsCPI / 2;
+		euler.m_Angle3 = atan2(-mtx[0][2], mtx[0][1]);
+	}
+	else if(fabs(-mtx[1][0] + 1) < 1e-12)
+	{
+		euler.m_Angle1 = 0;
+		euler.m_Angle2 = -AsCPI / 2;
+		euler.m_Angle3 = atan2(-mtx[0][2], -mtx[0][1]);
 	}
 	else
 	{
-- 
Gitee