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Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Data Structures | |
struct | FloatVect2 |
struct | FloatVect3 |
struct | FloatQuat |
Roation quaternion. More... | |
struct | FloatMat33 |
struct | FloatRMat |
rotation matrix More... | |
struct | FloatEulers |
euler angles More... | |
struct | FloatRates |
angular rates More... | |
Functions | |
static float | float_log_n (float v, float n) |
static float | float_vect2_norm2 (struct FloatVect2 *v) |
static float | float_vect2_norm (struct FloatVect2 *v) |
static void | float_vect2_normalize (struct FloatVect2 *v) |
normalize 2D vector in place | |
static float | float_vect3_norm2 (struct FloatVect3 *v) |
static float | float_vect3_norm (struct FloatVect3 *v) |
static void | float_vect3_normalize (struct FloatVect3 *v) |
normalize 3D vector in place | |
void | float_vect3_integrate_fi (struct FloatVect3 *vec, struct FloatVect3 *dv, float dt) |
in place first order integration of a 3D-vector | |
void | float_rates_integrate_fi (struct FloatRates *r, struct FloatRates *dr, float dt) |
in place first order integration of angular rates | |
void | float_rates_of_euler_dot (struct FloatRates *r, struct FloatEulers *e, struct FloatEulers *edot) |
static void | float_rmat_identity (struct FloatRMat *rm) |
initialises a rotation matrix to identity | |
void | float_rmat_inv (struct FloatRMat *m_b2a, struct FloatRMat *m_a2b) |
Inverse/transpose of a rotation matrix. | |
void | float_rmat_comp (struct FloatRMat *m_a2c, struct FloatRMat *m_a2b, struct FloatRMat *m_b2c) |
Composition (multiplication) of two rotation matrices. | |
void | float_rmat_comp_inv (struct FloatRMat *m_a2b, struct FloatRMat *m_a2c, struct FloatRMat *m_b2c) |
Composition (multiplication) of two rotation matrices. | |
float | float_rmat_norm (struct FloatRMat *rm) |
Norm of a rotation matrix. | |
void | float_rmat_vmult (struct FloatVect3 *vb, struct FloatRMat *m_a2b, struct FloatVect3 *va) |
rotate 3D vector by rotation matrix. | |
void | float_rmat_transp_vmult (struct FloatVect3 *vb, struct FloatRMat *m_b2a, struct FloatVect3 *va) |
rotate 3D vector by transposed rotation matrix. | |
void | float_rmat_mult (struct FloatEulers *rb, struct FloatRMat *m_a2b, struct FloatEulers *ra) |
rotate angle by rotation matrix. | |
void | float_rmat_transp_mult (struct FloatEulers *rb, struct FloatRMat *m_b2a, struct FloatEulers *ra) |
rotate angle by transposed rotation matrix. | |
void | float_rmat_ratemult (struct FloatRates *rb, struct FloatRMat *m_a2b, struct FloatRates *ra) |
rotate anglular rates by rotation matrix. | |
void | float_rmat_transp_ratemult (struct FloatRates *rb, struct FloatRMat *m_b2a, struct FloatRates *ra) |
rotate anglular rates by transposed rotation matrix. | |
void | float_rmat_of_axis_angle (struct FloatRMat *rm, struct FloatVect3 *uv, float angle) |
initialises a rotation matrix from unit vector axis and angle | |
void | float_rmat_of_eulers_321 (struct FloatRMat *rm, struct FloatEulers *e) |
Rotation matrix from 321 Euler angles (float). | |
void | float_rmat_of_eulers_312 (struct FloatRMat *rm, struct FloatEulers *e) |
void | float_rmat_of_quat (struct FloatRMat *rm, struct FloatQuat *q) |
void | float_rmat_integrate_fi (struct FloatRMat *rm, struct FloatRates *omega, float dt) |
in place first order integration of a rotation matrix | |
float | float_rmat_reorthogonalize (struct FloatRMat *rm) |
static void | float_quat_identity (struct FloatQuat *q) |
initialises a quaternion to identity | |
static float | float_quat_norm (struct FloatQuat *q) |
static void | float_quat_normalize (struct FloatQuat *q) |
static void | float_quat_invert (struct FloatQuat *qo, struct FloatQuat *qi) |
static void | float_quat_wrap_shortest (struct FloatQuat *q) |
void | float_quat_comp (struct FloatQuat *a2c, struct FloatQuat *a2b, struct FloatQuat *b2c) |
Composition (multiplication) of two quaternions. | |
void | float_quat_comp_inv (struct FloatQuat *a2b, struct FloatQuat *a2c, struct FloatQuat *b2c) |
Composition (multiplication) of two quaternions. | |
void | float_quat_inv_comp (struct FloatQuat *b2c, struct FloatQuat *a2b, struct FloatQuat *a2c) |
Composition (multiplication) of two quaternions. | |
void | float_quat_comp_norm_shortest (struct FloatQuat *a2c, struct FloatQuat *a2b, struct FloatQuat *b2c) |
Composition (multiplication) of two quaternions with normalization. | |
void | float_quat_comp_inv_norm_shortest (struct FloatQuat *a2b, struct FloatQuat *a2c, struct FloatQuat *b2c) |
Composition (multiplication) of two quaternions with normalization. | |
void | float_quat_inv_comp_norm_shortest (struct FloatQuat *b2c, struct FloatQuat *a2b, struct FloatQuat *a2c) |
Composition (multiplication) of two quaternions with normalization. | |
void | float_quat_derivative (struct FloatQuat *qd, struct FloatRates *r, struct FloatQuat *q) |
Quaternion derivative from rotational velocity. | |
void | float_quat_derivative_lagrange (struct FloatQuat *qd, struct FloatRates *r, struct FloatQuat *q) |
Quaternion derivative from rotational velocity with Lagrange multiplier. | |
void | float_quat_differential (struct FloatQuat *q_out, struct FloatRates *w, float dt) |
Delta rotation quaternion with constant angular rates. | |
void | float_quat_integrate_fi (struct FloatQuat *q, struct FloatRates *omega, float dt) |
in place first order quaternion integration with constant rotational velocity | |
void | float_quat_integrate (struct FloatQuat *q, struct FloatRates *omega, float dt) |
in place quaternion integration with constant rotational velocity | |
void | float_quat_vmult (struct FloatVect3 *v_out, struct FloatQuat *q, const struct FloatVect3 *v_in) |
rotate 3D vector by quaternion. | |
void | float_quat_of_eulers (struct FloatQuat *q, struct FloatEulers *e) |
Quaternion from Euler angles. | |
void | float_quat_of_eulers_zxy (struct FloatQuat *q, struct FloatEulers *e) |
quat from euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch | |
void | float_quat_of_eulers_yxz (struct FloatQuat *q, struct FloatEulers *e) |
quat from euler rotation 'YXZ' This function calculates a quaternion from Euler angles with the order YXZ, so pitch, roll, yaw, instead of the conventional ZYX order. | |
void | float_quat_of_axis_angle (struct FloatQuat *q, const struct FloatVect3 *uv, float angle) |
Quaternion from unit vector and angle. | |
void | float_quat_of_orientation_vect (struct FloatQuat *q, const struct FloatVect3 *ov) |
Quaternion from orientation vector. | |
void | float_quat_of_rmat (struct FloatQuat *q, struct FloatRMat *rm) |
Quaternion from rotation matrix. | |
void | float_quat_tilt_twist (struct FloatQuat *tilt, struct FloatQuat *twist, struct FloatQuat *quat) |
Tilt twist decomposition of quaternion. | |
static float | float_eulers_norm (struct FloatEulers *e) |
void | float_eulers_of_rmat (struct FloatEulers *e, struct FloatRMat *rm) |
void | float_eulers_of_quat (struct FloatEulers *e, struct FloatQuat *q) |
euler rotation 'ZYX' | |
void | float_eulers_of_quat_zxy (struct FloatEulers *e, struct FloatQuat *q) |
euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch | |
void | float_eulers_of_quat_yxz (struct FloatEulers *e, struct FloatQuat *q) |
euler rotation 'YXZ' This function calculates from a quaternion the Euler angles with the order YXZ, so pitch, roll, yaw, instead of the conventional ZYX order. | |
static void | float_vect_zero (float *a, const int n) |
a = 0 | |
static void | float_vect_copy (float *a, const float *b, const int n) |
a = b | |
static void | float_vect_sum (float *o, const float *a, const float *b, const int n) |
o = a + b | |
static void | float_vect_diff (float *o, const float *a, const float *b, const int n) |
o = a - b | |
static void | float_vect_mul (float *o, const float *a, const float *b, const int n) |
o = a * b (element wise) | |
static void | float_vect_add (float *a, const float *b, const int n) |
a += b | |
static void | float_vect_sub (float *a, const float *b, const int n) |
a -= b | |
static void | float_vect_smul (float *o, const float *a, const float s, const int n) |
o = a * s | |
static void | float_vect_sdiv (float *o, const float *a, const float s, const int n) |
o = a / s | |
static float | float_vect_norm (const float *a, const int n) |
||a|| | |
static void | float_vect_scale (float *a, const float s, const int n) |
a *= s | |
static float | float_vect_dot_product (const float *a, const float *b, const int n) |
a.b | |
void | float_mat_invert (float **o, float **mat, int n) |
Calculate inverse of any n x n matrix (passed as C array) o = mat^-1 Algorithm verified with Matlab. | |
void | float_mat_exp (float **a, float **o, int n) |
float | float_mat_norm_li (float **o, int m, int n) |
static void | float_mat_zero (float **a, int m, int n) |
a = 0 | |
static void | float_mat_copy (float **a, float **b, int m, int n) |
a = b | |
static void | float_mat_sum (float **o, float **a, float **b, int m, int n) |
o = a + b | |
static void | float_mat_diff (float **o, float **a, float **b, int m, int n) |
o = a - b | |
static void | float_mat_transpose_square (float **a, int n) |
transpose square matrix | |
static void | float_mat_transpose (float **o, float **a, int n, int m) |
transpose non-square matrix | |
static void | float_mat_mul (float **o, float **a, float **b, int m, int n, int l) |
o = a * b | |
static void | float_mat_mul_transpose (float **o, float **a, float **b, int m, int n, int l) |
o = a * b' | |
static void | float_mat_mul_copy (float **o, float **a, float **b, int m, int n, int l) |
o = a * b | |
static void | float_mat_vect_mul (float *o, float **a, float *b, int m, int n) |
o = a * b | |
static void | float_mat_scale (float **a, float k, int m, int n) |
a *= k, where k is a scalar value | |
static void | float_mat_sum_scaled (float **a, float **b, float k, int m, int n) |
a += k*b, where k is a scalar value | |
static void | float_mat_minor (float **o, float **a, int m, int n, int d) |
matrix minor | |
static void | float_mat_vmul (float **o, float *v, int n) |
o = I - v v^T | |
static void | float_mat_col (float *o, float **a, int m, int c) |
o = c-th column of matrix a[m x n] | |
static void | float_mat_diagonal_scal (float **o, float v, int n) |
Make an n x n identity matrix (for matrix passed as array) | |
static void | float_mat_div_scalar (float **o, float **a, float scalar, int m, int n) |
Divide a matrix by a scalar. | |
static void | float_mat_mul_scalar (float **o, float **a, float scalar, int m, int n) |
Multiply a matrix by a scalar. | |
bool | float_mat_inv_2d (float inv_out[4], float mat_in[4]) |
2x2 matrix inverse | |
void | float_mat2_mult (struct FloatVect2 *vect_out, float mat[4], struct FloatVect2 vect_in) |
Multiply 2D matrix with vector. | |
bool | float_mat_inv_3d (float inv_out[3][3], float mat_in[3][3]) |
3x3 matrix inverse | |
void | float_mat3_mult (struct FloatVect3 *vect_out, float mat[3][3], struct FloatVect3 vect_in) |
Multiply 3D matrix with vector. | |
bool | float_mat_inv_4d (float invOut[4][4], float mat_in[4][4]) |
4x4 Matrix inverse | |
void | float_vect3_bound_in_2d (struct FloatVect3 *vect3, float bound) |
void | float_vect3_bound_in_3d (struct FloatVect3 *vect3, float bound) |
void | float_vect3_scale_in_2d (struct FloatVect3 *vect3, float norm_des) |
void | float_vect2_bound_in_2d (struct FloatVect2 *vect2, float bound) |
void | float_vect2_scale_in_2d (struct FloatVect2 *vect2, float norm_des) |
struct FloatVect2 |
Definition at line 49 of file pprz_algebra_float.h.
Data Fields | ||
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float | x | |
float | y |
struct FloatVect3 |
Definition at line 54 of file pprz_algebra_float.h.
Data Fields | ||
---|---|---|
float | x | |
float | y | |
float | z |
struct FloatQuat |
struct FloatMat33 |
Definition at line 70 of file pprz_algebra_float.h.
Data Fields | ||
---|---|---|
float | m[3 *3] |
struct FloatRMat |
rotation matrix
Definition at line 77 of file pprz_algebra_float.h.
Data Fields | ||
---|---|---|
float | m[3 *3] |
#define FLOAT_EULERS_NORM | ( | _e | ) | WARNING("FLOAT_EULERS_NORM macro is deprecated, use the lower case function instead") float_eulers_norm(&(_e)) |
Definition at line 533 of file pprz_algebra_float.h.
#define FLOAT_EULERS_OF_QUAT | ( | _e, | |
_q | |||
) | WARNING("FLOAT_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") float_eulers_of_quat(&(_e), &(_q)) |
Definition at line 532 of file pprz_algebra_float.h.
#define FLOAT_EULERS_OF_RMAT | ( | _e, | |
_rm | |||
) | WARNING("FLOAT_EULERS_OF_RMAT macro is deprecated, use the lower case function instead") float_eulers_of_rmat(&(_e), &(_rm)) |
Definition at line 531 of file pprz_algebra_float.h.
#define FLOAT_EULERS_ZERO | ( | _e | ) | EULERS_ASSIGN(_e, 0., 0., 0.); |
Definition at line 519 of file pprz_algebra_float.h.
Definition at line 234 of file pprz_algebra_float.h.
Definition at line 222 of file pprz_algebra_float.h.
#define FLOAT_QUAT_COMP | ( | _a2c, | |
_a2b, | |||
_b2c | |||
) | WARNING("FLOAT_QUAT_COMP macro is deprecated, use the lower case function instead") float_quat_comp(&(_a2c), &(_a2b), &(_b2c)) |
Definition at line 494 of file pprz_algebra_float.h.
#define FLOAT_QUAT_COMP_INV | ( | _a2b, | |
_a2c, | |||
_b2c | |||
) | WARNING("FLOAT_QUAT_COMP_INV macro is deprecated, use the lower case function instead") float_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c)) |
Definition at line 497 of file pprz_algebra_float.h.
#define FLOAT_QUAT_COMP_INV_NORM_SHORTEST | ( | _a2b, | |
_a2c, | |||
_b2c | |||
) | WARNING("FLOAT_QUAT_COMP_INV_NORM_SHORTEST macro is deprecated, use the lower case function instead") float_quat_comp_inv_norm_shortest(&(_a2b), &(_a2c), &(_b2c)) |
Definition at line 499 of file pprz_algebra_float.h.
#define FLOAT_QUAT_COMP_NORM_SHORTEST | ( | _a2c, | |
_a2b, | |||
_b2c | |||
) | WARNING("FLOAT_QUAT_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") float_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c)) |
Definition at line 498 of file pprz_algebra_float.h.
#define FLOAT_QUAT_DERIVATIVE | ( | _qd, | |
_r, | |||
_q | |||
) | WARNING("FLOAT_QUAT_DERIVATIVE macro is deprecated, use the lower case function instead") float_quat_derivative(&(_qd), &(_r), &(_q)) |
Definition at line 504 of file pprz_algebra_float.h.
#define FLOAT_QUAT_DERIVATIVE_LAGRANGE | ( | _qd, | |
_r, | |||
_q | |||
) | WARNING("FLOAT_QUAT_DERIVATIVE_LAGRANGE macro is deprecated, use the lower case function instead") float_quat_derivative_lagrange(&(_qd), &(_r), &(_q)) |
Definition at line 505 of file pprz_algebra_float.h.
#define FLOAT_QUAT_DIFFERENTIAL | ( | q_out, | |
w, | |||
dt | |||
) | WARNING("FLOAT_QUAT_DIFFERENTIAL macro is deprecated, use the lower case function instead") float_quat_differential(&(q_out), &(w), dt) |
Definition at line 501 of file pprz_algebra_float.h.
Definition at line 403 of file pprz_algebra_float.h.
#define FLOAT_QUAT_INTEGRATE | ( | _q, | |
_omega, | |||
_dt | |||
) | WARNING("FLOAT_QUAT_INTEGRATE macro is deprecated, use the lower case function instead") float_quat_integrate(&(_q), &(_omega), _dt) |
Definition at line 502 of file pprz_algebra_float.h.
#define FLOAT_QUAT_INV_COMP | ( | _b2c, | |
_a2b, | |||
_a2c | |||
) | WARNING("FLOAT_QUAT_INV_COMP macro is deprecated, use the lower case function instead") float_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c)) |
Definition at line 496 of file pprz_algebra_float.h.
#define FLOAT_QUAT_INV_COMP_NORM_SHORTEST | ( | _b2c, | |
_a2b, | |||
_a2c | |||
) | WARNING("FLOAT_QUAT_INV_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") float_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c)) |
Definition at line 500 of file pprz_algebra_float.h.
#define FLOAT_QUAT_INVERT | ( | _qo, | |
_qi | |||
) | WARNING("FLOAT_QUAT_INVERT macro is deprecated, use the lower case function instead") float_quat_invert(&(_qo), &(_qi)) |
Definition at line 490 of file pprz_algebra_float.h.
#define FLOAT_QUAT_MULT | ( | _a2c, | |
_a2b, | |||
_b2c | |||
) | WARNING("FLOAT_QUAT_MULT macro is deprecated, use the lower case function instead") float_quat_comp(&(_a2c), &(_a2b), &(_b2c)) |
Definition at line 495 of file pprz_algebra_float.h.
#define FLOAT_QUAT_NORM | ( | _q | ) | WARNING("FLOAT_QUAT_NORM macro is deprecated, use the lower case function instead") float_quat_norm(&(_q)) |
Definition at line 492 of file pprz_algebra_float.h.
#define FLOAT_QUAT_NORM2 | ( | _q | ) | (SQUARE((_q).qi) + SQUARE((_q).qx) + SQUARE((_q).qy) + SQUARE((_q).qz)) |
Definition at line 373 of file pprz_algebra_float.h.
#define FLOAT_QUAT_NORMALIZE | ( | _q | ) | WARNING("FLOAT_QUAT_NORMALIZE macro is deprecated, use the lower case function instead") float_quat_normalize(&(_q)) |
Definition at line 493 of file pprz_algebra_float.h.
#define FLOAT_QUAT_OF_AXIS_ANGLE | ( | _q, | |
_uv, | |||
_an | |||
) | WARNING("FLOAT_QUAT_OF_AXIS_ANGLE macro is deprecated, use the lower case function instead") float_quat_of_axis_angle(&(_q), &(_uv), _an) |
Definition at line 507 of file pprz_algebra_float.h.
#define FLOAT_QUAT_OF_EULERS | ( | _q, | |
_e | |||
) | WARNING("FLOAT_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") float_quat_of_eulers(&(_q), &(_e)) |
Definition at line 506 of file pprz_algebra_float.h.
#define FLOAT_QUAT_OF_ORIENTATION_VECT | ( | _q, | |
_ov | |||
) | WARNING("FLOAT_QUAT_OF_ORIENTATION_VECT macro is deprecated, use the lower case function instead") float_quat_of_orientation_vect(&(_q), &(_ov)) |
Definition at line 508 of file pprz_algebra_float.h.
#define FLOAT_QUAT_OF_RMAT | ( | _q, | |
_r | |||
) | WARNING("FLOAT_QUAT_OF_RMAT macro is deprecated, use the lower case function instead") float_quat_of_rmat(&(_q), &(_r)) |
Definition at line 509 of file pprz_algebra_float.h.
#define FLOAT_QUAT_VMULT | ( | v_out, | |
q, | |||
v_in | |||
) | WARNING("FLOAT_QUAT_VMULT macro is deprecated, use the lower case function instead") float_quat_vmult(&(v_out), &(q), &(v_in)) |
Definition at line 503 of file pprz_algebra_float.h.
#define FLOAT_QUAT_WRAP_SHORTEST | ( | _q | ) | WARNING("FLOAT_QUAT_WRAP_SHORTEST macro is deprecated, use the lower case function instead") float_quat_wrap_shortest(&(_q)) |
Definition at line 491 of file pprz_algebra_float.h.
#define FLOAT_QUAT_ZERO | ( | _q | ) | WARNING("FLOAT_QUAT_ZERO macro is deprecated, use the lower case function instead") float_quat_identity(&(_q)) |
Definition at line 489 of file pprz_algebra_float.h.
#define FLOAT_RATES_INTEGRATE_FI | ( | _ra, | |
_racc, | |||
_dt | |||
) | WARNING("FLOAT_RATES_INTEGRATE_FI macro is deprecated, use the lower case function instead") float_rates_integrate_fi(&(_ra), &(_racc), _dt) |
Definition at line 215 of file pprz_algebra_float.h.
Definition at line 195 of file pprz_algebra_float.h.
#define FLOAT_RATES_OF_EULER_DOT | ( | _ra, | |
_e, | |||
_ed | |||
) | WARNING("FLOAT_RATES_OF_EULER_DOT macro is deprecated, use the lower case function instead") float_rates_of_euler_dot(&(_ra), &(_e), &(_ed)) |
Definition at line 216 of file pprz_algebra_float.h.
Definition at line 191 of file pprz_algebra_float.h.
#define FLOAT_RMAT_COMP | ( | _m_a2c, | |
_m_a2b, | |||
_m_b2c | |||
) | WARNING("FLOAT_RMAT_COMP macro is deprecated, use the lower case function instead") float_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c)) |
Definition at line 343 of file pprz_algebra_float.h.
#define FLOAT_RMAT_COMP_INV | ( | _m_a2b, | |
_m_a2c, | |||
_m_b2c | |||
) | WARNING("FLOAT_RMAT_COMP_INV macro is deprecated, use the lower case function instead") float_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c)) |
Definition at line 344 of file pprz_algebra_float.h.
#define FLOAT_RMAT_INTEGRATE_FI | ( | _rm, | |
_omega, | |||
_dt | |||
) | WARNING("FLOAT_RMAT_INTEGRATE_FI macro is deprecated, use the lower case function instead") float_rmat_integrate_fi(&(_rm), &(_omega), &(_dt)) |
Definition at line 354 of file pprz_algebra_float.h.
#define FLOAT_RMAT_INV | ( | _m_b2a, | |
_m_a2b | |||
) | WARNING("FLOAT_RMAT_INV macro is deprecated, use the lower case function instead") float_rmat_inv(&(_m_b2a), &(_m_a2b)) |
Definition at line 341 of file pprz_algebra_float.h.
#define FLOAT_RMAT_NORM | ( | _m | ) | WARNING("FLOAT_RMAT_NORM macro is deprecated, use the lower case function instead") float_rmat_norm(&(_m)) |
Definition at line 342 of file pprz_algebra_float.h.
#define FLOAT_RMAT_OF_AXIS_ANGLE | ( | _rm, | |
_uv, | |||
_an | |||
) | WARNING("FLOAT_RMAT_OF_AXIS_ANGLE macro is deprecated, use the lower case function instead") float_rmat_of_axis_angle(&(_rm), &(_uv), _an) |
Definition at line 349 of file pprz_algebra_float.h.
#define float_rmat_of_eulers float_rmat_of_eulers_321 |
Definition at line 333 of file pprz_algebra_float.h.
#define FLOAT_RMAT_OF_EULERS | ( | _rm, | |
_e | |||
) | WARNING("FLOAT_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") float_rmat_of_eulers_321(&(_rm), &(_e)) |
Definition at line 350 of file pprz_algebra_float.h.
#define FLOAT_RMAT_OF_EULERS_312 | ( | _rm, | |
_e | |||
) | WARNING("FLOAT_RMAT_OF_EULERS_312 macro is deprecated, use the lower case function instead") float_rmat_of_eulers_312(&(_rm), &(_e)) |
Definition at line 352 of file pprz_algebra_float.h.
#define FLOAT_RMAT_OF_EULERS_321 | ( | _rm, | |
_e | |||
) | WARNING("FLOAT_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") float_rmat_of_eulers_321(&(_rm), &(_e)) |
Definition at line 351 of file pprz_algebra_float.h.
#define FLOAT_RMAT_OF_QUAT | ( | _rm, | |
_q | |||
) | WARNING("FLOAT_RMAT_OF_QUAT macro is deprecated, use the lower case function instead") float_rmat_of_quat(&(_rm), &(_q)) |
Definition at line 353 of file pprz_algebra_float.h.
#define FLOAT_RMAT_RATEMULT | ( | _rb, | |
_m_a2b, | |||
_ra | |||
) | WARNING("FLOAT_RMAT_RATEMULT macro is deprecated, use the lower case function instead") float_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra)) |
Definition at line 347 of file pprz_algebra_float.h.
#define FLOAT_RMAT_TRANSP_RATEMULT | ( | _rb, | |
_m_b2a, | |||
_ra | |||
) | WARNING("FLOAT_RMAT_TRANSP_RATEMULT macro is deprecated, use the lower case function instead") float_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra)) |
Definition at line 348 of file pprz_algebra_float.h.
#define FLOAT_RMAT_TRANSP_VMULT | ( | _vb, | |
_m_b2a, | |||
_va | |||
) | WARNING("FLOAT_RMAT_TRANSP_VMULT macro is deprecated, use the lower case function instead") float_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va)) |
Definition at line 346 of file pprz_algebra_float.h.
#define FLOAT_RMAT_VMULT | ( | _vb, | |
_m_a2b, | |||
_va | |||
) | WARNING("FLOAT_RMAT_VMULT macro is deprecated, use the lower case function instead") float_rmat_vmult(&(_vb), &(_m_a2b), &(_va)) |
Definition at line 345 of file pprz_algebra_float.h.
#define FLOAT_VECT2_NORM | ( | _v | ) | sqrtf(VECT2_NORM2(_v)) |
Definition at line 132 of file pprz_algebra_float.h.
#define FLOAT_VECT2_NORMALIZE | ( | _v | ) | float_vect2_normalize(&(_v)) |
Definition at line 154 of file pprz_algebra_float.h.
#define FLOAT_VECT2_ZERO | ( | _v | ) | VECT2_ASSIGN(_v, 0., 0.) |
Definition at line 129 of file pprz_algebra_float.h.
#define FLOAT_VECT3_INTEGRATE_FI | ( | _vo, | |
_dv, | |||
_dt | |||
) | WARNING("FLOAT_VECT3_INTEGRATE_FI macro is deprecated, use the lower case function instead") float_vect3_integrate_fi(&(_vo), &(_dv), _dt) |
Definition at line 214 of file pprz_algebra_float.h.
#define FLOAT_VECT3_NORM | ( | _v | ) | sqrtf(VECT3_NORM2(_v)) |
Definition at line 164 of file pprz_algebra_float.h.
#define FLOAT_VECT3_NORMALIZE | ( | _v | ) | float_vect3_normalize(&(_v)) |
Definition at line 187 of file pprz_algebra_float.h.
#define FLOAT_VECT3_ZERO | ( | _v | ) | VECT3_ASSIGN(_v, 0., 0., 0.) |
Definition at line 161 of file pprz_algebra_float.h.
#define M_SQRT2 1.41421356237309504880 |
Definition at line 46 of file pprz_algebra_float.h.
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Definition at line 521 of file pprz_algebra_float.h.
References foo, FloatEulers::phi, FloatEulers::psi, SQUARE, and FloatEulers::theta.
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euler rotation 'ZYX'
e | Euler output |
q | Quat input |
Definition at line 688 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatEulers::theta.
Referenced by ahrs_dcm_align(), ahrs_float_invariant_propagate(), attitude_ref_quat_float_update(), gps_datalink_parse_EXTERNAL_POSE(), gyro_cb(), ins_ext_pose_msg_update(), ins_float_invariant_update_gps(), orientationCalcEulers_f(), parse_ins_msg(), send_att(), send_att(), send_euler(), send_euler(), send_euler(), send_euler_int(), send_inv_filter(), send_inv_filter(), send_windtunnel_meas(), stab_sp_to_eulers_f(), and tag_tracking_get_heading().
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euler rotation 'YXZ' This function calculates from a quaternion the Euler angles with the order YXZ, so pitch, roll, yaw, instead of the conventional ZYX order.
See https://en.wikipedia.org/wiki/Euler_angles
e | Euler output |
q | Quat input |
Definition at line 722 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatEulers::theta.
Referenced by guidance_indi_run().
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euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch
e | Euler output |
q | Quat input |
Definition at line 755 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatEulers::theta.
Referenced by compute_accel_from_speed_sp(), eff_scheduling_falcon_periodic(), eff_scheduling_periodic_b(), guidance_indi_calcg_wing(), guidance_indi_calcg_wing(), guidance_indi_enter(), guidance_indi_hybrid_set_wls_settings(), guidance_indi_run(), oneloop_andi_run(), schdule_control_effectiveness(), send_att_full_indi(), send_fp(), and update_attitude().
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Definition at line 666 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, and FloatEulers::theta.
Referenced by ahrs_fc_update_mag_2d_dumb(), and orientationCalcEulers_f().
Definition at line 107 of file pprz_algebra_float.h.
References foo.
Referenced by float_mat_exp().
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Multiply 2D matrix with vector.
vect_out | output vector |
mat[4] | Matrix input |
vect_in | Vector input |
Definition at line 810 of file pprz_algebra_float.c.
References foo.
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Multiply 3D matrix with vector.
vect_out | output vector |
mat[3][3] | Matrix input |
vect_in | Vector input |
Definition at line 858 of file pprz_algebra_float.c.
References foo.
Referenced by guidance_indi_run().
o = c-th column of matrix a[m x n]
Definition at line 861 of file pprz_algebra_float.h.
Referenced by pprz_qr_float().
a = b
Definition at line 659 of file pprz_algebra_float.h.
Referenced by ekf_measurement_step(), ekf_prediction_step(), float_mat_exp(), float_mat_mul_copy(), pprz_cholesky_float(), and pprz_qr_float().
Make an n x n identity matrix (for matrix passed as array)
Definition at line 870 of file pprz_algebra_float.h.
References foo.
Referenced by discrete_ekf_new(), discrete_ekf_no_north_new(), ekf_prediction_step(), ekf_step(), float_mat_exp(), ins_flow_update(), and linear_filter().
o = a - b
Definition at line 679 of file pprz_algebra_float.h.
Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), ins_flow_update(), and linear_kalman_filter_update().
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Divide a matrix by a scalar.
Definition at line 886 of file pprz_algebra_float.h.
References foo.
Referenced by recursive_least_squares().
Definition at line 990 of file pprz_algebra_float.c.
References float_log_n(), float_mat_copy(), float_mat_diagonal_scal(), float_mat_invert(), float_mat_mul_copy(), float_mat_norm_li(), float_mat_scale(), float_mat_sum_scaled(), foo, MAKE_MATRIX_PTR, p, s, and FloatVect3::x.
Referenced by c2d().
2x2 matrix inverse
inv_out[4] | inverted matrix output |
mat_in[4] | matrix to be inverted |
Definition at line 789 of file pprz_algebra_float.c.
References foo.
3x3 matrix inverse
inv_out[3][3] | inverted matrix output |
mat_in[3][3] | matrix to be inverted |
Definition at line 824 of file pprz_algebra_float.c.
References foo.
Referenced by guidance_indi_run().
4x4 Matrix inverse
invOut | output array, inverse of mat_in |
mat_in | input array |
Definition at line 912 of file pprz_algebra_float.c.
References float_mat_adjoint_4d(), float_mat_det_4d(), and foo.
Calculate inverse of any n x n matrix (passed as C array) o = mat^-1 Algorithm verified with Matlab.
Thanks to: https://www.quora.com/How-do-I-make-a-C++-program-to-get-the-inverse-of-a-matrix-100-X-100
Definition at line 935 of file pprz_algebra_float.c.
References foo.
Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), ekf_measurement_step(), ekf_step(), fit_linear_model_prior(), float_mat_exp(), ins_flow_update(), linear_kalman_filter_update(), and simple_kinematic_kalman_update().
matrix minor
a: [m x n] o: [I(d,d) 0 ] [ 0 a(d,m:d,n)]
Definition at line 834 of file pprz_algebra_float.h.
References float_mat_zero(), and foo.
Referenced by pprz_qr_float().
o = a * b
a: [m x n] b: [n x l] o: [m x l]
Definition at line 718 of file pprz_algebra_float.h.
Referenced by discrete_ekf_no_north_predict(), discrete_ekf_no_north_update(), discrete_ekf_predict(), discrete_ekf_update(), ekf_measurement_step(), ekf_prediction_step(), ekf_step(), fit_linear_model_prior(), ins_flow_update(), linear_kalman_filter_predict(), linear_kalman_filter_update(), pprz_qr_float(), and simple_kinematic_kalman_update().
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o = a * b
a: [m x n] b: [n x l] o: [m x l]
Multiply two matrices with eachother. By using a temporary array to store result. The resulting matrix can be stored in one of the input matrices when this function is used, which is useful for consecutive multiplications (e.g. when doing matrix exponentiation), at the cost of some copy overhead.
Definition at line 761 of file pprz_algebra_float.h.
References b, float_mat_copy(), foo, and MAKE_MATRIX_PTR.
Referenced by ekf_measurement_step(), ekf_step(), float_mat_exp(), and linear_kalman_filter_update().
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Multiply a matrix by a scalar.
Definition at line 897 of file pprz_algebra_float.h.
References foo.
Referenced by recursive_least_squares().
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o = a * b'
a: [m x n] b: [l x n] o: [m x l]
Definition at line 737 of file pprz_algebra_float.h.
Referenced by linear_kalman_filter_predict(), and linear_kalman_filter_update().
Definition at line 1050 of file pprz_algebra_float.c.
References foo.
Referenced by float_mat_exp().
a *= k, where k is a scalar value
a: [m x n] k: [1 x 1]
Definition at line 801 of file pprz_algebra_float.h.
References foo.
Referenced by c2d(), ekf_measurement_step(), ekf_prediction_step(), ekf_step(), and float_mat_exp().
o = a + b
Definition at line 670 of file pprz_algebra_float.h.
Referenced by discrete_ekf_no_north_predict(), discrete_ekf_no_north_update(), discrete_ekf_predict(), discrete_ekf_update(), fit_linear_model_prior(), ins_flow_update(), linear_kalman_filter_predict(), and linear_kalman_filter_update().
a += k*b, where k is a scalar value
a: [m x n] b: [m x n] k: [1 x 1]
Definition at line 817 of file pprz_algebra_float.h.
Referenced by ekf_measurement_step(), ekf_prediction_step(), ekf_step(), and float_mat_exp().
transpose non-square matrix
Definition at line 702 of file pprz_algebra_float.h.
References foo.
Referenced by discrete_ekf_no_north_predict(), discrete_ekf_no_north_update(), discrete_ekf_update(), ekf_measurement_step(), ekf_prediction_step(), ekf_step(), fit_linear_model_prior(), ins_flow_update(), and simple_kinematic_kalman_update().
transpose square matrix
Definition at line 688 of file pprz_algebra_float.h.
References foo.
Referenced by discrete_ekf_no_north_predict(), discrete_ekf_predict(), ekf_prediction_step(), ekf_step(), and pprz_qr_float().
o = a * b
a: [m x n] b: [n x 1] o: [m x 1]
Definition at line 785 of file pprz_algebra_float.h.
Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), ekf_measurement_step(), ekf_step(), linear_kalman_filter_predict(), linear_kalman_filter_update(), simple_kinematic_kalman_update(), and stabilization_indi_rate_run().
o = I - v v^T
Definition at line 847 of file pprz_algebra_float.h.
References foo.
Referenced by pprz_qr_float().
a = 0
Definition at line 650 of file pprz_algebra_float.h.
References foo.
Referenced by discrete_ekf_no_north_Fx(), discrete_ekf_no_north_G(), discrete_ekf_no_north_Hx(), float_mat_minor(), linear_kalman_filter_init(), pprz_cholesky_float(), and pprz_polyfit_float().
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Composition (multiplication) of two quaternions.
a2c = a2b comp b2c , aka a2c = a2b * b2c
Definition at line 320 of file pprz_algebra_float.c.
References foo.
Referenced by attitude_ref_quat_float_update(), float_quat_comp_norm_shortest(), ins_ekf2_parse_EXTERNAL_POSE(), ins_ext_pose_msg_update(), quat_from_earth_cmd_f(), reset_state(), stabilization_attitude_read_rc_setpoint(), stabilization_attitude_read_rc_setpoint_earth_bound(), tag_track_cb(), and update_tag_position().
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Composition (multiplication) of two quaternions.
a2b = a2c comp_inv b2c , aka a2b = a2c * inv(b2c)
Definition at line 328 of file pprz_algebra_float.c.
References foo.
Referenced by float_quat_comp_inv_norm_shortest(), send_windtunnel_meas(), and stabilization_attitude_read_rc_setpoint().
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Composition (multiplication) of two quaternions with normalization.
a2b = a2c comp_inv b2c , aka a2b = a2c * inv(b2c)
Definition at line 351 of file pprz_algebra_float.c.
References float_quat_comp_inv(), float_quat_normalize(), float_quat_wrap_shortest(), and foo.
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Composition (multiplication) of two quaternions with normalization.
a2c = a2b comp b2c , aka a2c = a2b * b2c
Definition at line 344 of file pprz_algebra_float.c.
References float_quat_comp(), float_quat_normalize(), float_quat_wrap_shortest(), and foo.
Referenced by ahrs_fc_realign_heading(), ahrs_float_get_quat_from_accel_mag(), and stabilization_attitude_read_rc_setpoint().
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Quaternion derivative from rotational velocity.
qd = -0.5*omega(r) * q or equally: qd = 0.5 * q * omega(r)
Definition at line 450 of file pprz_algebra_float.c.
References foo, FloatRates::p, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatRates::r.
Referenced by ahrs_madgwick_propagate(), attitude_ref_quat_float_update(), invariant_model(), and invariant_model().
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Quaternion derivative from rotational velocity with Lagrange multiplier.
qd = -0.5*omega(r) * q or equally: qd = 0.5 * q * omega(r)
Quaternion derivative from rotational velocity with Lagrange multiplier.
qd = -0.5*omega(r) * q
Definition at line 461 of file pprz_algebra_float.c.
References float_quat_norm(), foo, FloatRates::p, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatRates::r.
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Delta rotation quaternion with constant angular rates.
Definition at line 365 of file pprz_algebra_float.c.
References c2, foo, FloatRates::p, FloatRates::q, and FloatRates::r.
Referenced by attitude_ref_quat_float_update().
initialises a quaternion to identity
Definition at line 365 of file pprz_algebra_float.h.
References FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, and FloatQuat::qz.
Referenced by ahrs_fc_init(), ahrs_mlkf_init(), attitude_ref_quat_float_init(), init_invariant_state(), init_invariant_state(), init_state(), nav_init(), reset_state(), stab_sp_to_quat_f(), stabilization_attitude_enter(), stabilization_attitude_quat_float_init(), stabilization_attitude_rc_setpoint_init(), stabilization_attitude_run(), tag_tracking_get(), and tag_tracking_init().
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in place quaternion integration with constant rotational velocity
Definition at line 400 of file pprz_algebra_float.c.
References FLOAT_RATES_NORM, foo, FloatRates::p, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatRates::r.
Referenced by ahrs_fc_propagate(), and propagate_ref().
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in place first order quaternion integration with constant rotational velocity
Definition at line 384 of file pprz_algebra_float.c.
References foo, FloatRates::p, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatRates::r.
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Composition (multiplication) of two quaternions.
b2c = a2b inv_comp a2c , aka b2c = inv(_a2b) * a2c
Definition at line 336 of file pprz_algebra_float.c.
References foo.
Referenced by attitude_ref_quat_float_update(), float_quat_inv_comp_norm_shortest(), and stabilization_attitude_run().
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Composition (multiplication) of two quaternions with normalization.
b2c = a2b inv_comp a2c , aka b2c = inv(_a2b) * a2c
Definition at line 358 of file pprz_algebra_float.c.
References float_quat_inv_comp(), float_quat_normalize(), float_quat_wrap_shortest(), and foo.
Referenced by ahrs_fc_realign_heading(), float_quat_tilt_twist(), ins_float_invariant_update_gps(), and stabilization_indi_attitude_run().
Definition at line 391 of file pprz_algebra_float.h.
References foo, and QUAT_INVERT.
Referenced by error_output(), error_output(), float_quat_tilt_twist(), ins_float_invariant_propagate(), and invariant_model().
Definition at line 375 of file pprz_algebra_float.h.
References foo, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and SQUARE.
Referenced by float_quat_derivative_lagrange(), and float_quat_normalize().
Definition at line 380 of file pprz_algebra_float.h.
References float_quat_norm(), foo, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, and FloatQuat::qz.
Referenced by ahrs_fc_propagate(), ahrs_fc_realign_heading(), ahrs_float_get_quat_from_accel(), ahrs_float_get_quat_from_accel_mag(), ahrs_float_invariant_propagate(), ahrs_madgwick_propagate(), attitude_ref_quat_float_update(), float_quat_comp_inv_norm_shortest(), float_quat_comp_norm_shortest(), float_quat_inv_comp_norm_shortest(), float_quat_tilt_twist(), guidance_indi_run(), ins_float_invariant_propagate(), quat_from_earth_cmd_f(), reset_state(), stabilization_attitude_read_rc_setpoint(), stabilization_attitude_read_rc_setpoint_earth_bound(), and tag_track_cb().
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Quaternion from unit vector and angle.
Output quaternion is not normalized. It will be a unit quaternion only if the input vector is also unitary.
Definition at line 551 of file pprz_algebra_float.c.
References foo, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, and FloatQuat::qz.
Referenced by stabilization_attitude_read_rc_setpoint(), and stabilization_attitude_read_rc_setpoint_earth_bound().
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Quaternion from Euler angles.
Quaternion from Euler angles.
q | Quat output |
e | Euler input |
Definition at line 477 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatEulers::theta.
Referenced by ahrs_vectornav_propagate(), eff_scheduling_rotwing_update_wing_angle(), ins_vectornav_propagate(), orientationCalcQuat_f(), stab_sp_to_quat_f(), and tag_tracking_init().
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quat from euler rotation 'YXZ' This function calculates a quaternion from Euler angles with the order YXZ, so pitch, roll, yaw, instead of the conventional ZYX order.
See https://en.wikipedia.org/wiki/Euler_angles
q | Quat output |
e | Euler input |
Definition at line 532 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatEulers::theta.
Referenced by guidance_indi_run().
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quat from euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch
q | Quat output |
e | Euler input |
Definition at line 504 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatEulers::theta.
Referenced by guidance_indi_run().
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Quaternion from orientation vector.
Length/norm of the vector is the angle.
Definition at line 560 of file pprz_algebra_float.c.
References foo, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by guidance_hybrid_set_cmd_i(), quat_from_earth_cmd_f(), quat_from_rpy_cmd_f(), stabilization_attitude_heli_indi_set_steadystate_pitchroll(), and stabilization_attitude_read_rc_roll_pitch_quat_f().
Quaternion from rotation matrix.
Definition at line 577 of file pprz_algebra_float.c.
References foo, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, RMAT_ELMT, and RMAT_TRACE.
Referenced by ahrs_fc_propagate(), and orientationCalcQuat_f().
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Tilt twist decomposition of quaternion.
Tilt twist decomposition of quaternion.
Decomposes a quaternion rotation in two rotations:
Useful for control of vehicles that are slow in rotation around the z axis.
tilt | Tilt output |
twist | Twist output |
quat | Quaternion input |
Definition at line 634 of file pprz_algebra_float.c.
References float_quat_inv_comp_norm_shortest(), float_quat_invert(), float_quat_normalize(), float_quat_vmult(), foo, VECT3_CROSS_PRODUCT, and FloatVect3::z.
Referenced by stabilization_indi_attitude_run().
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rotate 3D vector by quaternion.
vb = q_a2b * va * q_a2b^-1
Definition at line 421 of file pprz_algebra_float.c.
References foo, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, and FloatQuat::qz.
Referenced by error_output(), error_output(), float_quat_tilt_twist(), ins_float_invariant_propagate(), ins_float_invariant_update_gps(), invariant_model(), invariant_model(), mag_calib_ukf_run(), update_state(), update_state_heading(), and vel_est_cb().
Definition at line 396 of file pprz_algebra_float.h.
References FloatQuat::qi, and QUAT_EXPLEMENTARY.
Referenced by attitude_ref_quat_float_update(), float_quat_comp_inv_norm_shortest(), float_quat_comp_norm_shortest(), float_quat_inv_comp_norm_shortest(), quat_from_earth_cmd_f(), and stabilization_attitude_run().
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in place first order integration of angular rates
Definition at line 38 of file pprz_algebra_float.c.
References foo, FloatRates::p, FloatRates::q, and FloatRates::r.
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Definition at line 45 of file pprz_algebra_float.c.
References foo, FloatRates::p, FloatEulers::phi, FloatRates::q, FloatRates::r, and FloatEulers::theta.
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Composition (multiplication) of two rotation matrices.
m_a2c = m_a2b comp m_b2c , aka m_a2c = m_b2c * m_a2b
Definition at line 78 of file pprz_algebra_float.c.
References foo.
Referenced by detection_cb(), float_rmat_integrate_fi(), and ins_vectornav_propagate().
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Composition (multiplication) of two rotation matrices.
m_a2b = m_a2c comp_inv m_b2c , aka m_a2b = inv(_m_b2c) * m_a2c
Definition at line 94 of file pprz_algebra_float.c.
References foo.
initialises a rotation matrix to identity
Definition at line 255 of file pprz_algebra_float.h.
References FLOAT_MAT33_DIAG, and foo.
Referenced by ahrs_dcm_init(), ahrs_fc_init(), and Normalize().
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in place first order integration of a rotation matrix
Definition at line 261 of file pprz_algebra_float.c.
References float_rmat_comp(), foo, FloatRates::p, FloatRates::q, and FloatRates::r.
Referenced by ahrs_fc_propagate().
Inverse/transpose of a rotation matrix.
m_b2a = inv(_m_a2b) = transp(_m_a2b)
Definition at line 55 of file pprz_algebra_float.c.
References foo, and RMAT_ELMT.
Referenced by gps_cb().
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rotate angle by rotation matrix.
rb = m_a2b * ra
Definition at line 130 of file pprz_algebra_float.c.
References foo.
Referenced by state2stereocam().
Norm of a rotation matrix.
Definition at line 68 of file pprz_algebra_float.c.
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initialises a rotation matrix from unit vector axis and angle
Definition at line 169 of file pprz_algebra_float.c.
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Definition at line 214 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, RMAT_ELMT, and FloatEulers::theta.
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Rotation matrix from 321 Euler angles (float).
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.
[out] | rm | pointer to rotation matrix |
[in] | e | pointer to Euler angles |
Definition at line 194 of file pprz_algebra_float.c.
References foo, FloatEulers::phi, FloatEulers::psi, RMAT_ELMT, and FloatEulers::theta.
Referenced by get_world_position_from_image_points().
Definition at line 236 of file pprz_algebra_float.c.
References foo, M_SQRT2, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and RMAT_ELMT.
Referenced by ahrs_dcm_align(), ahrs_fc_align(), ahrs_fc_propagate(), ahrs_fc_realign_heading(), ahrs_float_get_quat_from_accel_mag(), ins_vectornav_propagate(), orientationCalcRMat_f(), and quat_from_earth_cmd_f().
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rotate anglular rates by rotation matrix.
rb = m_a2b * ra
Definition at line 150 of file pprz_algebra_float.c.
References foo.
Referenced by ahrs_vectornav_propagate(), imu_gyro_raw_cb(), and ins_vectornav_propagate().
Definition at line 286 of file pprz_algebra_float.c.
References foo, MAT33_ROW_VECT3_SMUL, renorm_factor(), RMAT_ELMT, s, VECT3_CROSS_PRODUCT, VECT3_DOT_PRODUCT, VECT3_NORM2, and VECT3_SUM_SCALED.
Referenced by ahrs_fc_propagate().
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rotate angle by transposed rotation matrix.
rb = m_b2a^T * ra
Definition at line 140 of file pprz_algebra_float.c.
References foo.
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rotate anglular rates by transposed rotation matrix.
rb = m_b2a^T * ra
Definition at line 160 of file pprz_algebra_float.c.
References foo.
Referenced by imu_gyro_raw_cb().
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rotate 3D vector by transposed rotation matrix.
vb = m_b2a^T * va
Definition at line 120 of file pprz_algebra_float.c.
References foo, FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by ahrs_fc_update_mag_2d(), ahrs_float_get_quat_from_accel_mag(), detection_cb(), ekf_run(), imu_accel_raw_cb(), ins_vectornav_propagate(), nav_catapult_highrate_module(), opticflow_calc_frame(), range_forcefield_update(), rotwing_state_choose_circle_direction(), rotwing_state_set_transition_wp(), stereocam_parse_msg(), update_tag_position(), Vb_to_Va(), and wind_estimation_quadrotor_periodic().
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rotate 3D vector by rotation matrix.
vb = m_a2b * va
Definition at line 110 of file pprz_algebra_float.c.
References foo, FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by ahrs_fc_update_heading(), ahrs_fc_update_mag_2d(), ahrs_fc_update_mag_full(), detection_cb(), gps_cb(), imu_accel_raw_cb(), send_ins_flow(), Va_to_Vb(), and wind_estimator_periodic().
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Definition at line 1098 of file pprz_algebra_float.c.
References FLOAT_VECT2_NORM, foo, scale, FloatVect2::x, and FloatVect2::y.
Referenced by nav_hybrid_goto().
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Definition at line 139 of file pprz_algebra_float.h.
References float_vect2_norm2(), and foo.
Referenced by air_data_parse_WIND_INFO(), dc_periodic(), distance_to_wp(), float_vect2_normalize(), get_time_to_home(), ins_float_invariant_update_gps(), mission_point_of_lla(), nav_advance_carrot(), nav_approaching(), nav_approaching(), nav_check_wp_time(), nav_hybrid_approaching(), nav_hybrid_circle(), nav_hybrid_goto(), nav_hybrid_route(), nav_spiral_3D_run(), nav_spiral_run(), nav_spiral_setup(), rover_guidance_run(), rover_holo_guidance_run(), send_wind(), and wind_estimation_quadrotor_periodic().
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Definition at line 134 of file pprz_algebra_float.h.
References FloatVect2::x, and FloatVect2::y.
Referenced by float_vect2_norm(), and nav_glide_points().
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normalize 2D vector in place
Definition at line 145 of file pprz_algebra_float.h.
References float_vect2_norm(), FloatVect2::x, and FloatVect2::y.
Referenced by ahrs_fc_update_mag_2d(), compute_points_from_bungee(), nav_hybrid_circle(), and nav_oval().
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Definition at line 1108 of file pprz_algebra_float.c.
References FLOAT_VECT2_NORM, foo, scale, FloatVect2::x, and FloatVect2::y.
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Definition at line 1067 of file pprz_algebra_float.c.
References FLOAT_VECT2_NORM, foo, scale, FloatVect3::x, and FloatVect3::y.
Referenced by compute_accel_from_speed_sp().
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Definition at line 1077 of file pprz_algebra_float.c.
References FLOAT_VECT3_NORM, foo, scale, FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by follow_diagonal_approach().
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in place first order integration of a 3D-vector
Definition at line 30 of file pprz_algebra_float.c.
References foo.
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Definition at line 171 of file pprz_algebra_float.h.
References float_vect3_norm2(), and foo.
Referenced by ahrs_fc_update_accel(), ahrs_madgwick_propagate(), ahrs_mlkf_update_accel(), float_vect3_norm_two_points(), float_vect3_normalize(), handle_ins_msg(), handle_ins_msg(), mag_calib_update_field(), and send_wind_estimator().
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Definition at line 166 of file pprz_algebra_float.h.
References FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by float_vect3_norm().
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normalize 3D vector in place
Definition at line 177 of file pprz_algebra_float.h.
References float_vect3_norm(), FloatVect3::x, FloatVect3::y, and FloatVect3::z.
Referenced by ahrs_float_get_quat_from_accel(), geo_mag_event(), and shift_tracking_init().
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Definition at line 1088 of file pprz_algebra_float.c.
References FLOAT_VECT2_NORM, foo, scale, FloatVect3::x, and FloatVect3::y.
a += b
Definition at line 577 of file pprz_algebra_float.h.
References b.
Referenced by ekf_f_rk4(), ekf_measurement_step(), ekf_prediction_step(), ekf_step(), runge_kutta_1_float(), runge_kutta_2_float(), runge_kutta_4_float(), simple_kinematic_kalman_update(), and trilateration_init().
a = b
Definition at line 549 of file pprz_algebra_float.h.
References b.
Referenced by ec_3rd_att(), ekf_init(), ekf_measurement_step(), ekf_prediction_step(), get_actuator_state(), lms_estimation(), lms_estimation(), oneloop_andi_RM(), oneloop_andi_run(), rm_1st_pos(), rm_2nd_pos(), rm_3rd_attitude(), rm_3rd_pos(), stabilization_indi_init(), and wedgebug_periodic().
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o = a - b
Definition at line 563 of file pprz_algebra_float.h.
References b.
Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), linear_kalman_filter_update(), simple_kinematic_kalman_update(), stabilization_indi_rate_run(), and trilateration_init().
a.b
Definition at line 623 of file pprz_algebra_float.h.
Referenced by stabilization_indi_rate_run(), and trilateration_init().
||a||
Definition at line 607 of file pprz_algebra_float.h.
References foo.
Referenced by acc_body_bound(), bound_v_from_a(), oneloop_andi_RM(), pprz_qr_float(), trilateration_init(), and vect_bound_nd().
a *= s
Definition at line 616 of file pprz_algebra_float.h.
References s.
Referenced by discrete_ekf_no_north_predict(), ekf_f_rk4(), ekf_measurement_step(), ekf_prediction_step(), ekf_step(), and lms_estimation().
o = a / s
Definition at line 598 of file pprz_algebra_float.h.
Referenced by pprz_qr_float(), and trilateration_init().
o = a * s
Definition at line 591 of file pprz_algebra_float.h.
References s.
Referenced by ekf_f_rk4(), lms_estimation(), runge_kutta_1_float(), runge_kutta_2_float(), runge_kutta_4_float(), and trilateration_init().
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o = a + b
Definition at line 556 of file pprz_algebra_float.h.
References b.
Referenced by discrete_ekf_no_north_predict(), discrete_ekf_no_north_update(), discrete_ekf_predict(), discrete_ekf_update(), ec_3rd_att(), ekf_f_rk4(), linear_kalman_filter_predict(), linear_kalman_filter_update(), oneloop_andi_run(), and runge_kutta_4_float().
a = 0
Definition at line 542 of file pprz_algebra_float.h.
Referenced by discrete_ekf_new(), discrete_ekf_no_north_new(), invariant_model(), linear_filter(), linear_kalman_filter_init(), oneloop_andi_enter(), oneloop_andi_init(), oneloop_andi_RM(), pprz_polyfit_float(), stabilization_indi_enter(), stabilization_indi_init(), stabilization_indi_rate_run(), and wind_estimation_quadrotor_reset().