Double Algebra

Collaboration diagram for Double Algebra:

Data Structures
struct	DoubleVect2
struct	DoubleVect3
struct	DoubleQuat
	Roation quaternion. More...
struct	DoubleMat33
struct	DoubleRMat
	rotation matrix More...
struct	DoubleEulers
	euler angles More...
struct	DoubleRates
	angular rates More...

Macros
#define	DOUBLE_VECT3_ROUND(_v)   DOUBLE_VECT3_RINT(_v, _v)
#define	DOUBLE_VECT3_RINT(_vout, _vin)
#define	DOUBLE_RMAT_OF_EULERS(_rm, _e)   WARNING("DOUBLE_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))
#define	DOUBLE_RMAT_OF_EULERS_321(_rm, _e)   WARNING("DOUBLE_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))
#define	DOUBLE_QUAT_OF_EULERS(_q, _e)   WARNING("DOUBLE_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") double_quat_of_eulers(&(_q), &(_e))
#define	DOUBLE_EULERS_OF_QUAT(_e, _q)   WARNING("DOUBLE_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") double_eulers_of_quat(&(_e), &(_q))
#define	DOUBLE_QUAT_VMULT(v_out, q, v_in)   WARNING("DOUBLE_QUAT_VMULT macro is deprecated, use the lower case function instead") double_quat_vmult(&(v_out), &(q), &(v_in))

Functions
static double	double_vect3_norm (struct DoubleVect3 *v)
static void	double_vect3_normalize (struct DoubleVect3 *v)
	normalize 3D vector in place More...
static void	double_quat_identity (struct DoubleQuat *q)
	initialises a quaternion to identity More...
static double	double_quat_norm (struct DoubleQuat *q)
static void	double_quat_normalize (struct DoubleQuat *q)
void	double_rmat_of_eulers_321 (struct DoubleRMat *rm, struct DoubleEulers *e)
	Rotation matrix from 321 Euler angles (double). More...
void	double_quat_of_eulers (struct DoubleQuat *q, struct DoubleEulers *e)
void	double_eulers_of_quat (struct DoubleEulers *e, struct DoubleQuat *q)
void	double_quat_vmult (struct DoubleVect3 *v_out, struct DoubleQuat *q, struct DoubleVect3 *v_in)
void	double_quat_comp (struct DoubleQuat *a2c, struct DoubleQuat *a2b, struct DoubleQuat *b2c)
	Composition (multiplication) of two quaternions. More...
static void	double_rmat_identity (struct DoubleRMat *rm)
	initialises a rotation matrix to identity More...
void	double_rmat_inv (struct DoubleRMat *m_b2a, struct DoubleRMat *m_a2b)
	Inverse/transpose of a rotation matrix. More...
void	double_rmat_comp (struct DoubleRMat *m_a2c, struct DoubleRMat *m_a2b, struct DoubleRMat *m_b2c)
	Composition (multiplication) of two rotation matrices. More...
void	double_rmat_vmult (struct DoubleVect3 *vb, struct DoubleRMat *m_a2b, struct DoubleVect3 *va)
	rotate 3D vector by rotation matrix. More...
void	double_rmat_transp_vmult (struct DoubleVect3 *vb, struct DoubleRMat *m_b2a, struct DoubleVect3 *va)
	rotate 3D vector by transposed rotation matrix. More...
void	double_rmat_of_quat (struct DoubleRMat *rm, struct DoubleQuat *q)
static void	double_rmat_of_eulers (struct DoubleRMat *rm, struct DoubleEulers *e)

Detailed Description

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Data Structure Documentation

DoubleVect2

struct DoubleVect2

Definition at line 41 of file pprz_algebra_double.h.

Data Fields
double	x
double	y

DoubleVect3

struct DoubleVect3

Definition at line 46 of file pprz_algebra_double.h.

Data Fields
double	x
double	y
double	z

DoubleQuat

struct DoubleQuat

Roation quaternion.

Definition at line 55 of file pprz_algebra_double.h.

Data Fields
double	qi
double	qx
double	qy
double	qz

DoubleMat33

struct DoubleMat33

Definition at line 62 of file pprz_algebra_double.h.

Data Fields
double	m[3 *3]

DoubleRMat

struct DoubleRMat

rotation matrix

Definition at line 69 of file pprz_algebra_double.h.

Data Fields
double	m[3 *3]

DoubleEulers

struct DoubleEulers

euler angles

Units: radians

Definition at line 76 of file pprz_algebra_double.h.

Data Fields
double	phi	in radians
double	psi	in radians
double	theta	in radians

DoubleRates

struct DoubleRates

angular rates

Units: rad/s^2

Definition at line 85 of file pprz_algebra_double.h.

Data Fields
double	p	in rad/s^2
double	q	in rad/s^2
double	r	in rad/s^2

Macro Definition Documentation

DOUBLE_EULERS_OF_QUAT

#define DOUBLE_EULERS_OF_QUAT	(		_e,
			_q
	)		WARNING("DOUBLE_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") double_eulers_of_quat(&(_e), &(_q))

Definition at line 204 of file pprz_algebra_double.h.

DOUBLE_QUAT_OF_EULERS

#define DOUBLE_QUAT_OF_EULERS	(		_q,
			_e
	)		WARNING("DOUBLE_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") double_quat_of_eulers(&(_q), &(_e))

Definition at line 203 of file pprz_algebra_double.h.

DOUBLE_QUAT_VMULT

#define DOUBLE_QUAT_VMULT	(		v_out,
			q,
			v_in
	)		WARNING("DOUBLE_QUAT_VMULT macro is deprecated, use the lower case function instead") double_quat_vmult(&(v_out), &(q), &(v_in))

Definition at line 205 of file pprz_algebra_double.h.

DOUBLE_RMAT_OF_EULERS

#define DOUBLE_RMAT_OF_EULERS	(		_rm,
			_e
	)		WARNING("DOUBLE_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))

Definition at line 201 of file pprz_algebra_double.h.

DOUBLE_RMAT_OF_EULERS_321

#define DOUBLE_RMAT_OF_EULERS_321	(		_rm,
			_e
	)		WARNING("DOUBLE_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))

Definition at line 202 of file pprz_algebra_double.h.

DOUBLE_VECT3_RINT

#define DOUBLE_VECT3_RINT	(		_vout,
			_vin
	)

Value:

    {    \
    (_vout).x = rint((_vin).x);         \
    (_vout).y = rint((_vin).y);         \
    (_vout).z = rint((_vin).z);         \
  }

Definition at line 94 of file pprz_algebra_double.h.

DOUBLE_VECT3_ROUND

#define DOUBLE_VECT3_ROUND

(

_v

)

DOUBLE_VECT3_RINT(_v, _v)

Definition at line 91 of file pprz_algebra_double.h.

Function Documentation

double_eulers_of_quat()

void double_eulers_of_quat	(	struct DoubleEulers *	e,
		struct DoubleQuat *	q
	)

Definition at line 68 of file pprz_algebra_double.c.

References DoubleEulers::phi, DoubleEulers::psi, DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and DoubleEulers::theta.

Referenced by fetch_state(), and get_orient().

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double_quat_comp()

void double_quat_comp	(	struct DoubleQuat *	a2c,
		struct DoubleQuat *	a2b,
		struct DoubleQuat *	b2c
	)

Composition (multiplication) of two quaternions.

a2c = a2b comp b2c , aka a2c = a2b * b2c

Definition at line 114 of file pprz_algebra_double.c.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, and DoubleQuat::qz.

Referenced by get_orient().

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double_quat_identity()

static void double_quat_identity ( struct DoubleQuat *  q )

inlinestatic

initialises a quaternion to identity

Definition at line 118 of file pprz_algebra_double.h.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, and DoubleQuat::qz.

double_quat_norm()

static double double_quat_norm ( struct DoubleQuat *  q )

inlinestatic

Definition at line 126 of file pprz_algebra_double.h.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and SQUARE.

Referenced by double_quat_normalize().

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double_quat_normalize()

static void double_quat_normalize ( struct DoubleQuat *  q )

inlinestatic

Definition at line 132 of file pprz_algebra_double.h.

References double_quat_norm(), DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, and DoubleQuat::qz.

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double_quat_of_eulers()

void double_quat_of_eulers	(	struct DoubleQuat *	q,
		struct DoubleEulers *	e
	)

Definition at line 49 of file pprz_algebra_double.c.

References DoubleEulers::phi, DoubleEulers::psi, DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and DoubleEulers::theta.

Referenced by decode_ahrspacket(), gazebo_read(), and nps_fdm_run_step().

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double_quat_vmult()

void double_quat_vmult	(	struct DoubleVect3 *	v_out,
		struct DoubleQuat *	q,
		struct DoubleVect3 *	v_in
	)

Definition at line 90 of file pprz_algebra_double.c.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

Referenced by get_acc(), get_ang_acc(), get_ang_vel(), nps_ivy_display(), and nps_sensor_mag_run_step().

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double_rmat_comp()

void double_rmat_comp	(	struct DoubleRMat *	m_a2c,
		struct DoubleRMat *	m_a2b,
		struct DoubleRMat *	m_b2c
	)

Composition (multiplication) of two rotation matrices.

m_a2c = m_a2b comp m_b2c , aka m_a2c = m_b2c * m_a2b

Definition at line 139 of file pprz_algebra_double.c.

References DoubleRMat::m.

double_rmat_identity()

static void double_rmat_identity ( struct DoubleRMat *  rm )

inlinestatic

initialises a rotation matrix to identity

Definition at line 166 of file pprz_algebra_double.h.

References FLOAT_MAT33_DIAG.

double_rmat_inv()

void double_rmat_inv	(	struct DoubleRMat *	m_b2a,
		struct DoubleRMat *	m_a2b
	)

Inverse/transpose of a rotation matrix.

m_b2a = inv(_m_a2b) = transp(_m_a2b)

Definition at line 123 of file pprz_algebra_double.c.

References RMAT_ELMT.

double_rmat_of_eulers()

static void double_rmat_of_eulers ( struct DoubleRMat *  rm, struct DoubleEulers *  e  )

inlinestatic

Definition at line 195 of file pprz_algebra_double.h.

References double_rmat_of_eulers_321().

Referenced by nps_sensor_mag_init(), and nps_sensors_init().

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double_rmat_of_eulers_321()

void double_rmat_of_eulers_321	(	struct DoubleRMat *	rm,
		struct DoubleEulers *	e
	)

Rotation matrix from 321 Euler angles (double).

The Euler angles are interpreted as zy'x'' (intrinsic) rotation. First rotate around z with psi, then around the new y' with theta, then around new x'' with phi. This is the same as a xyz (extrinsic) rotation, rotating around the fixed x, then y then z axis.

• psi range: -pi < psi <= pi
• theta range: -pi/2 <= theta <= pi/2
• phi range: -pi < phi <= pi

  Parameters

  [out]	rm	pointer to rotation matrix
  [in]	e	pointer to Euler angles

Definition at line 29 of file pprz_algebra_double.c.

References DoubleEulers::phi, DoubleEulers::psi, RMAT_ELMT, and DoubleEulers::theta.

Referenced by double_rmat_of_eulers().

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double_rmat_of_quat()

void double_rmat_of_quat	(	struct DoubleRMat *	rm,
		struct DoubleQuat *	q
	)

Definition at line 173 of file pprz_algebra_double.c.

References M_SQRT2, DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and RMAT_ELMT.

double_rmat_transp_vmult()

void double_rmat_transp_vmult	(	struct DoubleVect3 *	vb,
		struct DoubleRMat *	m_b2a,
		struct DoubleVect3 *	va
	)

rotate 3D vector by transposed rotation matrix.

vb = m_b2a^T * va

Definition at line 165 of file pprz_algebra_double.c.

References DoubleRMat::m, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

double_rmat_vmult()

void double_rmat_vmult	(	struct DoubleVect3 *	vb,
		struct DoubleRMat *	m_a2b,
		struct DoubleVect3 *	va
	)

rotate 3D vector by rotation matrix.

vb = m_a2b * va

Definition at line 155 of file pprz_algebra_double.c.

References DoubleRMat::m, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

double_vect3_norm()

static double double_vect3_norm ( struct DoubleVect3 *  v )

inlinestatic

Definition at line 100 of file pprz_algebra_double.h.

References VECT3_NORM2.

Referenced by decode_gpspacket(), and double_vect3_normalize().

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double_vect3_normalize()

static void double_vect3_normalize ( struct DoubleVect3 *  v )

inlinestatic

normalize 3D vector in place

Definition at line 106 of file pprz_algebra_double.h.

References double_vect3_norm(), DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

Referenced by init_ltp().

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