Collaboration diagram for Float Algebra:

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...

Macros
#define	M_SQRT2 1.41421356237309504880

#define	FLOAT_ANGLE_NORMALIZE(_a)

#define	FLOAT_VECT2_ZERO(_v) VECT2_ASSIGN(_v, 0., 0.)

#define	FLOAT_VECT2_NORM(_v) sqrtf(VECT2_NORM2(_v))

#define	FLOAT_VECT2_NORMALIZE(_v) float_vect2_normalize(&(_v))

#define	FLOAT_VECT3_ZERO(_v) VECT3_ASSIGN(_v, 0., 0., 0.)

#define	FLOAT_VECT3_NORM(_v) sqrtf(VECT3_NORM2(_v))

#define	FLOAT_VECT3_NORMALIZE(_v) float_vect3_normalize(&(_v))

#define	FLOAT_RATES_ZERO(_r)

#define	FLOAT_RATES_NORM(_v) (sqrtf((_v).p(_v).p + (_v).q(_v).q + (_v).r*(_v).r))

#define	FLOAT_RATES_LIN_CMB(_ro, _r1, _s1, _r2, _s2)

#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)

#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)

#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))

#define	FLOAT_MAT33_ZERO(_m)

#define	FLOAT_MAT33_DIAG(_m, _d00, _d11, _d22)

#define	float_rmat_of_eulers float_rmat_of_eulers_321

#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))

#define	FLOAT_RMAT_NORM(_m) WARNING("FLOAT_RMAT_NORM macro is deprecated, use the lower case function instead") float_rmat_norm(&(_m))

#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))

#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))

#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))

#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))

#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))

#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))

#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)

#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))

#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))

#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))

#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))

#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))

#define	FLOAT_QUAT_NORM2(_q) (SQUARE((_q).qi) + SQUARE((_q).qx) + SQUARE((_q).qy) + SQUARE((_q).qz))

#define	FLOAT_QUAT_EXTRACT(_vo, _qi) QUAT_EXTRACT_Q(_vo, _qi)

#define	FLOAT_QUAT_ZERO(_q) WARNING("FLOAT_QUAT_ZERO macro is deprecated, use the lower case function instead") float_quat_identity(&(_q))

#define	FLOAT_QUAT_INVERT(_qo, _qi) WARNING("FLOAT_QUAT_INVERT macro is deprecated, use the lower case function instead") float_quat_invert(&(_qo), &(_qi))

#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))

#define	FLOAT_QUAT_NORM(_q) WARNING("FLOAT_QUAT_NORM macro is deprecated, use the lower case function instead") float_quat_norm(&(_q))

#define	FLOAT_QUAT_NORMALIZE(_q) WARNING("FLOAT_QUAT_NORMALIZE macro is deprecated, use the lower case function instead") float_quat_normalize(&(_q))

#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))

#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))

#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))

#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))

#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))

#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))

#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))

#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)

#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)

#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))

#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))

#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))

#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))

#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)

#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))

#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))

#define	FLOAT_EULERS_ZERO(_e) EULERS_ASSIGN(_e, 0., 0., 0.);

#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))

#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))

#define	FLOAT_EULERS_NORM(_e) WARNING("FLOAT_EULERS_NORM macro is deprecated, use the lower case function instead") float_eulers_norm(&(_e))

#define	MAKE_MATRIX_PTR(_ptr, _mat, _rows)
	Make a pointer to a matrix of _rows lines.

Functions
static float	float_log_n (const float v, const float n)

static float	float_vect2_norm2 (const struct FloatVect2 *v)

static float	float_vect2_norm (const struct FloatVect2 *v)

static void	float_vect2_normalize (struct FloatVect2 *v)
	normalize 2D vector in place

static float	float_vect3_norm2 (const struct FloatVect3 *v)

static float	float_vect3_norm (const struct FloatVect3 *v)

static void	float_vect3_normalize (struct FloatVect3 *v)
	normalize 3D vector in place

void	float_vect3_integrate_fi (struct FloatVect3 vec, const struct FloatVect3 dv, const float dt)
	in place first order integration of a 3D-vector

void	float_rates_integrate_fi (struct FloatRates r, const struct FloatRates dr, const float dt)
	in place first order integration of angular rates

void	float_rates_vect3_integrate_fi (struct FloatRates r, const struct FloatVect3 dr, const float dt)
	in place first order integration of angular rates

void	float_rates_of_euler_dot (struct FloatRates r, const struct FloatEulers e, const 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, const struct FloatRMat m_a2b)
	Inverse/transpose of a rotation matrix.

void	float_rmat_comp (struct FloatRMat m_a2c, const struct FloatRMat m_a2b, const struct FloatRMat *m_b2c)
	Composition (multiplication) of two rotation matrices.

void	float_rmat_comp_inv (struct FloatRMat m_a2b, const struct FloatRMat m_a2c, const struct FloatRMat *m_b2c)
	Composition (multiplication) of two rotation matrices.

float	float_rmat_norm (const struct FloatRMat *rm)
	Norm of a rotation matrix.

void	float_rmat_vmult (struct FloatVect3 vb, const struct FloatRMat m_a2b, const struct FloatVect3 *va)
	rotate 3D vector by rotation matrix.

void	float_rmat_transp_vmult (struct FloatVect3 vb, const struct FloatRMat m_b2a, const struct FloatVect3 *va)
	rotate 3D vector by transposed rotation matrix.

void	float_rmat_mult (struct FloatEulers rb, const struct FloatRMat m_a2b, const struct FloatEulers *ra)
	rotate angle by rotation matrix.

void	float_rmat_transp_mult (struct FloatEulers rb, const struct FloatRMat m_b2a, const struct FloatEulers *ra)
	rotate angle by transposed rotation matrix.

void	float_rmat_ratemult (struct FloatRates rb, const struct FloatRMat m_a2b, const struct FloatRates *ra)
	rotate anglular rates by rotation matrix.

void	float_rmat_transp_ratemult (struct FloatRates rb, const struct FloatRMat m_b2a, const struct FloatRates *ra)
	rotate anglular rates by transposed rotation matrix.

void	float_rmat_of_axis_angle (struct FloatRMat rm, const struct FloatVect3 uv, const float angle)
	initialises a rotation matrix from unit vector axis and angle

void	float_rmat_of_eulers_321 (struct FloatRMat rm, const struct FloatEulers e)
	Rotation matrix from 321 Euler angles (float).

void	float_rmat_of_eulers_312 (struct FloatRMat rm, const struct FloatEulers e)

void	float_rmat_of_quat (struct FloatRMat rm, const struct FloatQuat q)

void	float_rmat_integrate_fi (struct FloatRMat rm, const struct FloatRates omega, const 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 (const struct FloatQuat *q)

static void	float_quat_normalize (struct FloatQuat *q)

static void	float_quat_invert (struct FloatQuat qo, const struct FloatQuat qi)

static void	float_quat_wrap_shortest (struct FloatQuat *q)

void	float_quat_comp (struct FloatQuat a2c, const struct FloatQuat a2b, const struct FloatQuat *b2c)
	Composition (multiplication) of two quaternions.

void	float_quat_comp_inv (struct FloatQuat a2b, const struct FloatQuat a2c, const struct FloatQuat *b2c)
	Composition (multiplication) of two quaternions.

void	float_quat_inv_comp (struct FloatQuat b2c, const struct FloatQuat a2b, const struct FloatQuat *a2c)
	Composition (multiplication) of two quaternions.

void	float_quat_comp_norm_shortest (struct FloatQuat a2c, const struct FloatQuat a2b, const struct FloatQuat *b2c)
	Composition (multiplication) of two quaternions with normalization.

void	float_quat_comp_inv_norm_shortest (struct FloatQuat a2b, const struct FloatQuat a2c, const struct FloatQuat *b2c)
	Composition (multiplication) of two quaternions with normalization.

void	float_quat_inv_comp_norm_shortest (struct FloatQuat b2c, const struct FloatQuat a2b, const struct FloatQuat *a2c)
	Composition (multiplication) of two quaternions with normalization.

void	float_quat_derivative (struct FloatQuat qd, const struct FloatRates r, const struct FloatQuat *q)
	Quaternion derivative from rotational velocity.

void	float_quat_derivative_lagrange (struct FloatQuat qd, const struct FloatRates r, const struct FloatQuat *q)
	Quaternion derivative from rotational velocity with Lagrange multiplier.

void	float_quat_differential (struct FloatQuat q_out, const struct FloatRates w, const float dt)
	Delta rotation quaternion with constant angular rates.

void	float_quat_integrate_fi (struct FloatQuat q, const struct FloatRates omega, const float dt)
	in place first order quaternion integration with constant rotational velocity

void	float_quat_integrate (struct FloatQuat q, const struct FloatRates omega, const float dt)
	in place quaternion integration with constant rotational velocity

void	float_quat_vmult (struct FloatVect3 v_out, const struct FloatQuat q, const struct FloatVect3 *v_in)
	rotate 3D vector by quaternion.

void	float_quat_of_eulers (struct FloatQuat q, const struct FloatEulers e)
	Quaternion from Euler angles.

void	float_quat_of_eulers_zxy (struct FloatQuat q, const 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, const 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, const 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, const struct FloatRMat rm)
	Quaternion from rotation matrix.

void	float_quat_tilt_twist (struct FloatQuat tilt, struct FloatQuat twist, const struct FloatQuat *quat)
	Tilt twist decomposition of quaternion.

static float	float_eulers_norm (const struct FloatEulers *e)

void	float_eulers_of_rmat (struct FloatEulers e, const struct FloatRMat rm)

void	float_eulers_of_quat (struct FloatEulers e, const struct FloatQuat q)
	euler rotation 'ZYX'

void	float_eulers_of_quat_zxy (struct FloatEulers e, const 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, const 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, const 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, const int n)

float	float_mat_norm_li (float **o, const int m, const int n)

static void	float_mat_zero (float **a, const int m, const int n)
	a = 0

static void	float_mat_copy (float a, float b, const int m, const int n)
	a = b

static void	float_mat_sum (float o, float a, float **b, const int m, const int n)
	o = a + b

static void	float_mat_diff (float o, float a, float **b, const int m, const int n)
	o = a - b

static void	float_mat_transpose_square (float **a, const int n)
	transpose square matrix

static void	float_mat_transpose (float o, float a, const int n, const int m)
	transpose non-square matrix

static void	float_mat_mul (float o, float a, float **b, const int m, const int n, const int l)
	o = a * b

static void	float_mat_mul_transpose (float o, float a, float **b, const int m, const int n, const int l)
	o = a * b'

static void	float_mat_mul_copy (float o, float a, float **b, const int m, const int n, const int l)
	o = a * b

static void	float_mat_vect_mul (float o, float a, const float b, const int m, const int n)
	o = a * b

static void	float_mat_scale (float **a, float k, const int m, const int n)
	a *= k, where k is a scalar value

static void	float_mat_sum_scaled (float a, float b, const float k, const int m, const int n)
	a += k*b, where k is a scalar value

static void	float_mat_minor (float o, float a, const int m, const int n, const int d)
	matrix minor

static void	float_mat_vmul (float *o, const float v, const int n)
	o = I - v v^T

static void	float_mat_col (float o, float *a, const int m, const int c)
	o = c-th column of matrix a[m x n]

static void	float_mat_diagonal_scal (float **o, float v, const int n)
	Make an n x n identity matrix (for matrix passed as array)

static void	float_mat_div_scalar (float o, float a, const float scalar, const int m, const int n)
	Divide a matrix by a scalar.

static void	float_mat_mul_scalar (float o, float a, const float scalar, const int m, const int n)
	Multiply a matrix by a scalar.

bool	float_mat_inv_2d (float inv_out[4], const float mat_in[4])
	2x2 matrix inverse

void	float_mat2_mult (struct FloatVect2 *vect_out, const float mat[4], const struct FloatVect2 vect_in)
	Multiply 2D matrix with vector.

bool	float_mat_inv_3d (float inv_out[3][3], const float mat_in[3][3])
	3x3 matrix inverse

void	float_mat3_mult (struct FloatVect3 *vect_out, const float mat[3][3], const struct FloatVect3 vect_in)
	Multiply 3D matrix with vector.

bool	float_mat_inv_4d (float invOut[4][4], const float mat_in[4][4])
	4x4 Matrix inverse

void	float_vect3_bound_in_2d (struct FloatVect3 *vect3, const float bound)

void	float_vect3_bound_in_3d (struct FloatVect3 *vect3, const float bound)

void	float_vect3_scale_in_2d (struct FloatVect3 *vect3, const float norm_des)

void	float_vect2_bound_in_2d (struct FloatVect2 *vect2, const float bound)

void	float_vect2_scale_in_2d (struct FloatVect2 *vect2, const float norm_des)

Detailed Description

Data Structure Documentation

◆ FloatVect2

struct FloatVect2

Definition at line 49 of file pprz_algebra_float.h.

Data Fields
float	x
float	y

◆ FloatVect3

struct FloatVect3

Definition at line 54 of file pprz_algebra_float.h.

Data Fields
float	x
float	y
float	z

◆ FloatQuat

struct FloatQuat

Roation quaternion.

Definition at line 63 of file pprz_algebra_float.h.

Data Fields
float	qi
float	qx
float	qy
float	qz

◆ FloatMat33

struct FloatMat33

Definition at line 70 of file pprz_algebra_float.h.

Data Fields
float	m[3 *3]

◆ FloatRMat

struct FloatRMat

rotation matrix

Definition at line 77 of file pprz_algebra_float.h.

Data Fields
float	m[3 *3]

◆ FloatEulers

struct FloatEulers

euler angles

Units: radians

Definition at line 84 of file pprz_algebra_float.h.

Data Fields
float	phi	in radians
float	psi	in radians
float	theta	in radians

◆ FloatRates

struct FloatRates

angular rates

Units: rad/s

Definition at line 93 of file pprz_algebra_float.h.

Data Fields
float	p	in rad/s
float	q	in rad/s
float	r	in rad/s

Macro Definition Documentation

◆ FLOAT_ANGLE_NORMALIZE

#define FLOAT_ANGLE_NORMALIZE ( _a )

Value:

    {             \
    while (_a >  M_PI) _a -= (2.*M_PI);             \
    while (_a < -M_PI) _a += (2.*M_PI);             \
  }

Definition at line 99 of file pprz_algebra_float.h.

◆ FLOAT_EULERS_NORM

#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 539 of file pprz_algebra_float.h.

◆ FLOAT_EULERS_OF_QUAT

#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 538 of file pprz_algebra_float.h.

◆ FLOAT_EULERS_OF_RMAT

#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 537 of file pprz_algebra_float.h.

◆ FLOAT_EULERS_ZERO

#define FLOAT_EULERS_ZERO ( _e ) EULERS_ASSIGN(_e, 0., 0., 0.);

Definition at line 525 of file pprz_algebra_float.h.

◆ FLOAT_MAT33_DIAG

#define FLOAT_MAT33_DIAG	(	_m,
		_d00,
		_d11,
		_d22
	)

Value:

    {    \
    MAT33_ELMT(_m, 0, 0) = _d00;                    \
    MAT33_ELMT(_m, 0, 1) = 0.;                      \
    MAT33_ELMT(_m, 0, 2) = 0.;                      \
    MAT33_ELMT(_m, 1, 0) = 0.;                      \
    MAT33_ELMT(_m, 1, 1) = _d11;                    \
    MAT33_ELMT(_m, 1, 2) = 0.;                      \
    MAT33_ELMT(_m, 2, 0) = 0.;                      \
    MAT33_ELMT(_m, 2, 1) = 0.;                      \
    MAT33_ELMT(_m, 2, 2) = _d22;                    \
  }

Definition at line 237 of file pprz_algebra_float.h.

◆ FLOAT_MAT33_ZERO

#define FLOAT_MAT33_ZERO ( _m )

Value:

    {                      \
    MAT33_ELMT(_m, 0, 0) = 0.;                      \
    MAT33_ELMT(_m, 0, 1) = 0.;                      \
    MAT33_ELMT(_m, 0, 2) = 0.;                      \
    MAT33_ELMT(_m, 1, 0) = 0.;                      \
    MAT33_ELMT(_m, 1, 1) = 0.;                      \
    MAT33_ELMT(_m, 1, 2) = 0.;                      \
    MAT33_ELMT(_m, 2, 0) = 0.;                      \
    MAT33_ELMT(_m, 2, 1) = 0.;                      \
    MAT33_ELMT(_m, 2, 2) = 0.;                      \
  }

Definition at line 225 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_COMP

#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 500 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_COMP_INV

#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 503 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_COMP_INV_NORM_SHORTEST

#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 505 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_COMP_NORM_SHORTEST

#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 504 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_DERIVATIVE

#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 510 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_DERIVATIVE_LAGRANGE

#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 511 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_DIFFERENTIAL

#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 507 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_EXTRACT

#define FLOAT_QUAT_EXTRACT	(	_vo,
		_qi
	)	QUAT_EXTRACT_Q(_vo, _qi)

Definition at line 406 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_INTEGRATE

#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 508 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_INV_COMP

#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 502 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_INV_COMP_NORM_SHORTEST

#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 506 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_INVERT

#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 496 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_MULT

#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 501 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_NORM

#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 498 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_NORM2

#define FLOAT_QUAT_NORM2 ( _q ) (SQUARE((_q).qi) + SQUARE((_q).qx) + SQUARE((_q).qy) + SQUARE((_q).qz))

Definition at line 376 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_NORMALIZE

#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 499 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_OF_AXIS_ANGLE

#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 513 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_OF_EULERS

#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 512 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_OF_ORIENTATION_VECT

#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 514 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_OF_RMAT

#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 515 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_VMULT

#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 509 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_WRAP_SHORTEST

#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 497 of file pprz_algebra_float.h.

◆ FLOAT_QUAT_ZERO

#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 495 of file pprz_algebra_float.h.

◆ FLOAT_RATES_INTEGRATE_FI

#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 218 of file pprz_algebra_float.h.

◆ FLOAT_RATES_LIN_CMB

#define FLOAT_RATES_LIN_CMB	(	_ro,
		_r1,
		_s1,
		_r2,
		_s2
	)

Value:

    {          \
    _ro.p = _s1 * _r1.p + _s2 * _r2.p;                  \
    _ro.q = _s1 * _r1.q + _s2 * _r2.q;                  \
    _ro.r = _s1 * _r1.r + _s2 * _r2.r;                  \
  }

Definition at line 197 of file pprz_algebra_float.h.

◆ FLOAT_RATES_NORM

#define FLOAT_RATES_NORM ( _v ) (sqrtf((_v).p*(_v).p + (_v).q*(_v).q + (_v).r*(_v).r))

Definition at line 195 of file pprz_algebra_float.h.

◆ FLOAT_RATES_OF_EULER_DOT

#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 219 of file pprz_algebra_float.h.

◆ FLOAT_RATES_ZERO

#define FLOAT_RATES_ZERO ( _r )

Value:

    {          \
    RATES_ASSIGN(_r, 0., 0., 0.);       \
  }

Definition at line 191 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_COMP

#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 346 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_COMP_INV

#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 347 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_INTEGRATE_FI

#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 357 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_INV

#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 344 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_NORM

#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 345 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_OF_AXIS_ANGLE

#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 352 of file pprz_algebra_float.h.

◆ float_rmat_of_eulers

#define float_rmat_of_eulers float_rmat_of_eulers_321

Definition at line 336 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_OF_EULERS

#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 353 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_OF_EULERS_312

#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 355 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_OF_EULERS_321

#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 354 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_OF_QUAT

#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 356 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_RATEMULT

#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 350 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_TRANSP_RATEMULT

#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 351 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_TRANSP_VMULT

#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 349 of file pprz_algebra_float.h.

◆ FLOAT_RMAT_VMULT

#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 348 of file pprz_algebra_float.h.

◆ FLOAT_VECT2_NORM

#define FLOAT_VECT2_NORM ( _v ) sqrtf(VECT2_NORM2(_v))

Definition at line 132 of file pprz_algebra_float.h.

◆ FLOAT_VECT2_NORMALIZE

#define FLOAT_VECT2_NORMALIZE ( _v ) float_vect2_normalize(&(_v))

Definition at line 154 of file pprz_algebra_float.h.

◆ FLOAT_VECT2_ZERO

#define FLOAT_VECT2_ZERO ( _v ) VECT2_ASSIGN(_v, 0., 0.)

Definition at line 129 of file pprz_algebra_float.h.

◆ FLOAT_VECT3_INTEGRATE_FI

#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 217 of file pprz_algebra_float.h.

◆ FLOAT_VECT3_NORM

#define FLOAT_VECT3_NORM ( _v ) sqrtf(VECT3_NORM2(_v))

Definition at line 164 of file pprz_algebra_float.h.

◆ FLOAT_VECT3_NORMALIZE

#define FLOAT_VECT3_NORMALIZE ( _v ) float_vect3_normalize(&(_v))

Definition at line 187 of file pprz_algebra_float.h.

◆ FLOAT_VECT3_ZERO

#define FLOAT_VECT3_ZERO ( _v ) VECT3_ASSIGN(_v, 0., 0., 0.)

Definition at line 161 of file pprz_algebra_float.h.

◆ M_SQRT2

#define M_SQRT2 1.41421356237309504880

Definition at line 46 of file pprz_algebra_float.h.

◆ MAKE_MATRIX_PTR

#define MAKE_MATRIX_PTR	(	_ptr,
		_mat,
		_rows
	)

Value:

  float * _ptr[_rows]; \
  { \
    int __i; \
    for (__i = 0; __i < _rows; __i++) { _ptr[__i] = &_mat[__i][0]; } \
  }

Make a pointer to a matrix of _rows lines.

Definition at line 644 of file pprz_algebra_float.h.

Function Documentation

◆ float_eulers_norm()

static float float_eulers_norm ( const struct FloatEulers * e )

inlinestatic

Definition at line 527 of file pprz_algebra_float.h.

References foo, FloatEulers::phi, FloatEulers::psi, SQUARE, and FloatEulers::theta.

◆ float_eulers_of_quat()

void float_eulers_of_quat	(	struct FloatEulers *	e,
		const struct FloatQuat *	q
	)

extern

euler rotation 'ZYX'

Parameters

e	Euler output
q	Quat input

Definition at line 696 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(), guidance_plane_attitude_from_nav(), 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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◆ float_eulers_of_quat_yxz()

void float_eulers_of_quat_yxz	(	struct FloatEulers *	e,
		const struct FloatQuat *	q
	)

extern

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

Parameters

e	Euler output
q	Quat input

Definition at line 730 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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◆ float_eulers_of_quat_zxy()

void float_eulers_of_quat_zxy	(	struct FloatEulers *	e,
		const struct FloatQuat *	q
	)

extern

euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch

Parameters

e	Euler output
q	Quat input

Definition at line 763 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 aoa_t4_update(), compute_accel_from_speed_sp(), eff_scheduling_falcon_periodic(), eff_scheduling_periodic_b(), 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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◆ float_eulers_of_rmat()

void float_eulers_of_rmat	(	struct FloatEulers *	e,
		const struct FloatRMat *	rm
	)

extern

Definition at line 674 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().

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◆ float_log_n()

static float float_log_n	(	const float	v,
		const float	n
	)

inlinestatic

Definition at line 107 of file pprz_algebra_float.h.

References foo.

Referenced by float_mat_exp().

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◆ float_mat2_mult()

void float_mat2_mult	(	struct FloatVect2 *	vect_out,
		const float	mat[4],
		const struct FloatVect2	vect_in
	)

extern

Multiply 2D matrix with vector.

Parameters

vect_out	output vector
mat[4]	Matrix input
vect_in	Vector input

Definition at line 818 of file pprz_algebra_float.c.

References foo.

◆ float_mat3_mult()

void float_mat3_mult	(	struct FloatVect3 *	vect_out,
		const float	mat[3][3],
		const struct FloatVect3	vect_in
	)

extern

Multiply 3D matrix with vector.

Parameters

vect_out	output vector
mat[3][3]	Matrix input
vect_in	Vector input

Definition at line 866 of file pprz_algebra_float.c.

References foo.

Referenced by guidance_indi_run().

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◆ float_mat_col()

static void float_mat_col	(	float *	o,
		float **	a,
		const int	m,
		const int	c
	)

inlinestatic

o = c-th column of matrix a[m x n]

Definition at line 867 of file pprz_algebra_float.h.

Referenced by pprz_qr_float().

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◆ float_mat_copy()

static void float_mat_copy	(	float **	a,
		float **	b,
		const int	m,
		const int	n
	)

inlinestatic

a = b

Definition at line 665 of file pprz_algebra_float.h.

References b, and foo.

Referenced by ekf_measurement_step(), ekf_prediction_step(), float_mat_exp(), float_mat_mul_copy(), pprz_cholesky_float(), and pprz_qr_float().

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◆ float_mat_diagonal_scal()

static void float_mat_diagonal_scal	(	float **	o,
		float	v,
		const int	n
	)

inlinestatic

Make an n x n identity matrix (for matrix passed as array)

Definition at line 876 of file pprz_algebra_float.h.

References foo.

Referenced by discrete_ekf_new(), discrete_ekf_no_north_new(), ekf_prediction_step(), float_mat_exp(), ins_flow_update(), and linear_filter().

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◆ float_mat_diff()

static void float_mat_diff	(	float **	o,
		float **	a,
		float **	b,
		const int	m,
		const int	n
	)

inlinestatic

o = a - b

Definition at line 685 of file pprz_algebra_float.h.

References b, and foo.

Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), ins_flow_update(), and linear_kalman_filter_update().

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◆ float_mat_div_scalar()

static void float_mat_div_scalar	(	float **	o,
		float **	a,
		const float	scalar,
		const int	m,
		const int	n
	)

inlinestatic

Divide a matrix by a scalar.

Definition at line 892 of file pprz_algebra_float.h.

References foo.

Referenced by recursive_least_squares().

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◆ float_mat_exp()

void float_mat_exp	(	float **	a,
		float **	o,
		const int	n
	)

extern

Definition at line 998 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().

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◆ float_mat_inv_2d()

bool float_mat_inv_2d	(	float	inv_out[4],
		const float	mat_in[4]
	)

extern

2x2 matrix inverse

Parameters

inv_out[4]	inverted matrix output
mat_in[4]	matrix to be inverted

Returns: success (0) or not invertible (1)

Definition at line 797 of file pprz_algebra_float.c.

References foo.

◆ float_mat_inv_3d()

bool float_mat_inv_3d	(	float	inv_out[3][3],
		const float	mat_in[3][3]
	)

extern

3x3 matrix inverse

Parameters

inv_out[3][3]	inverted matrix output
mat_in[3][3]	matrix to be inverted

Returns: success (0) or not invertible (1)

Definition at line 832 of file pprz_algebra_float.c.

References foo.

Referenced by guidance_indi_run().

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◆ float_mat_inv_4d()

bool float_mat_inv_4d	(	float	invOut[4][4],
		const float	mat_in[4][4]
	)

extern

4x4 Matrix inverse

Parameters

invOut	output array, inverse of mat_in
mat_in	input array

Definition at line 920 of file pprz_algebra_float.c.

References float_mat_adjoint_4d(), float_mat_det_4d(), and foo.

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◆ float_mat_invert()

void float_mat_invert	(	float **	o,
		float **	mat,
		const int	n
	)

extern

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 943 of file pprz_algebra_float.c.

References foo.

Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), ekf_measurement_step(), fit_linear_model_prior(), float_mat_exp(), ins_flow_update(), linear_kalman_filter_update(), and simple_kinematic_kalman_update().

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◆ float_mat_minor()

static void float_mat_minor	(	float **	o,
		float **	a,
		const int	m,
		const int	n,
		const int	d
	)

inlinestatic

matrix minor

a: [m x n] o: [I(d,d) 0 ] [ 0 a(d,m:d,n)]

Definition at line 840 of file pprz_algebra_float.h.

References float_mat_zero(), and foo.

Referenced by pprz_qr_float().

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◆ float_mat_mul()

static void float_mat_mul	(	float **	o,
		float **	a,
		float **	b,
		const int	m,
		const int	n,
		const int	l
	)

inlinestatic

o = a * b

a: [m x n] b: [n x l] o: [m x l]

Definition at line 724 of file pprz_algebra_float.h.

References b, and foo.

Referenced by discrete_ekf_no_north_predict(), discrete_ekf_no_north_update(), discrete_ekf_predict(), discrete_ekf_update(), ekf_measurement_step(), ekf_prediction_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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◆ float_mat_mul_copy()

static void float_mat_mul_copy	(	float **	o,
		float **	a,
		float **	b,
		const int	m,
		const int	n,
		const int	l
	)

inlinestatic

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 767 of file pprz_algebra_float.h.

References b, float_mat_copy(), foo, and MAKE_MATRIX_PTR.

Referenced by ekf_measurement_step(), float_mat_exp(), and linear_kalman_filter_update().

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◆ float_mat_mul_scalar()

static void float_mat_mul_scalar	(	float **	o,
		float **	a,
		const float	scalar,
		const int	m,
		const int	n
	)

inlinestatic

Multiply a matrix by a scalar.

Definition at line 903 of file pprz_algebra_float.h.

References foo.

Referenced by recursive_least_squares().

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◆ float_mat_mul_transpose()

static void float_mat_mul_transpose	(	float **	o,
		float **	a,
		float **	b,
		const int	m,
		const int	n,
		const int	l
	)

inlinestatic

o = a * b'

a: [m x n] b: [l x n] o: [m x l]

Definition at line 743 of file pprz_algebra_float.h.

References b, and foo.

Referenced by linear_kalman_filter_predict(), and linear_kalman_filter_update().

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◆ float_mat_norm_li()

float float_mat_norm_li	(	float **	o,
		const int	m,
		const int	n
	)

extern

Definition at line 1057 of file pprz_algebra_float.c.

References foo.

Referenced by float_mat_exp().

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◆ float_mat_scale()

static void float_mat_scale	(	float **	a,
		float	k,
		const int	m,
		const int	n
	)

inlinestatic

a *= k, where k is a scalar value

a: [m x n] k: [1 x 1]

Definition at line 807 of file pprz_algebra_float.h.

References foo.

Referenced by c2d(), ekf_measurement_step(), ekf_prediction_step(), and float_mat_exp().

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◆ float_mat_sum()

static void float_mat_sum	(	float **	o,
		float **	a,
		float **	b,
		const int	m,
		const int	n
	)

inlinestatic

o = a + b

Definition at line 676 of file pprz_algebra_float.h.

References b, and foo.

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().

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◆ float_mat_sum_scaled()

static void float_mat_sum_scaled	(	float **	a,
		float **	b,
		const float	k,
		const int	m,
		const int	n
	)

inlinestatic

a += k*b, where k is a scalar value

a: [m x n] b: [m x n] k: [1 x 1]

Definition at line 823 of file pprz_algebra_float.h.

References b, and foo.

Referenced by ekf_measurement_step(), ekf_prediction_step(), and float_mat_exp().

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◆ float_mat_transpose()

static void float_mat_transpose	(	float **	o,
		float **	a,
		const int	n,
		const int	m
	)

inlinestatic

transpose non-square matrix

Definition at line 708 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(), fit_linear_model_prior(), ins_flow_update(), and simple_kinematic_kalman_update().

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◆ float_mat_transpose_square()

static void float_mat_transpose_square	(	float **	a,
		const int	n
	)

inlinestatic

transpose square matrix

Definition at line 694 of file pprz_algebra_float.h.

References foo.

Referenced by discrete_ekf_no_north_predict(), discrete_ekf_predict(), ekf_prediction_step(), and pprz_qr_float().

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◆ float_mat_vect_mul()

static void float_mat_vect_mul	(	float *	o,
		float **	a,
		const float *	b,
		const int	m,
		const int	n
	)

inlinestatic

o = a * b

a: [m x n] b: [n x 1] o: [m x 1]

Definition at line 791 of file pprz_algebra_float.h.

References b, and foo.

Referenced by discrete_ekf_no_north_update(), discrete_ekf_update(), ekf_measurement_step(), linear_kalman_filter_predict(), linear_kalman_filter_update(), simple_kinematic_kalman_update(), and stabilization_indi_rate_run().

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◆ float_mat_vmul()

static void float_mat_vmul	(	float **	o,
		const float *	v,
		const int	n
	)

inlinestatic

o = I - v v^T

Definition at line 853 of file pprz_algebra_float.h.

References foo.

Referenced by pprz_qr_float().

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◆ float_mat_zero()

static void float_mat_zero	(	float **	a,
		const int	m,
		const int	n
	)

inlinestatic

a = 0

Definition at line 656 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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◆ float_quat_comp()

void float_quat_comp	(	struct FloatQuat *	a2c,
		const struct FloatQuat *	a2b,
		const struct FloatQuat *	b2c
	)

extern

Composition (multiplication) of two quaternions.

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

Definition at line 328 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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◆ float_quat_comp_inv()

void float_quat_comp_inv	(	struct FloatQuat *	a2b,
		const struct FloatQuat *	a2c,
		const struct FloatQuat *	b2c
	)

extern

Composition (multiplication) of two quaternions.

a2b = a2c comp_inv b2c , aka a2b = a2c * inv(b2c)

Definition at line 336 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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◆ float_quat_comp_inv_norm_shortest()

void float_quat_comp_inv_norm_shortest	(	struct FloatQuat *	a2b,
		const struct FloatQuat *	a2c,
		const struct FloatQuat *	b2c
	)

extern

Composition (multiplication) of two quaternions with normalization.

a2b = a2c comp_inv b2c , aka a2b = a2c * inv(b2c)

Definition at line 359 of file pprz_algebra_float.c.

References float_quat_comp_inv(), float_quat_normalize(), float_quat_wrap_shortest(), and foo.

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◆ float_quat_comp_norm_shortest()

void float_quat_comp_norm_shortest	(	struct FloatQuat *	a2c,
		const struct FloatQuat *	a2b,
		const struct FloatQuat *	b2c
	)

extern

Composition (multiplication) of two quaternions with normalization.

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

Definition at line 352 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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◆ float_quat_derivative()

void float_quat_derivative	(	struct FloatQuat *	qd,
		const struct FloatRates *	r,
		const struct FloatQuat *	q
	)

extern

Quaternion derivative from rotational velocity.

qd = -0.5*omega(r) * q or equally: qd = 0.5 * q * omega(r)

Definition at line 458 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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◆ float_quat_derivative_lagrange()

void float_quat_derivative_lagrange	(	struct FloatQuat *	qd,
		const struct FloatRates *	r,
		const struct FloatQuat *	q
	)

extern

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 469 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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◆ float_quat_differential()

void float_quat_differential	(	struct FloatQuat *	q_out,
		const struct FloatRates *	w,
		const float	dt
	)

extern

Delta rotation quaternion with constant angular rates.

Definition at line 373 of file pprz_algebra_float.c.

References c2, foo, FloatRates::p, FloatRates::q, and FloatRates::r.

Referenced by attitude_ref_quat_float_update().

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◆ float_quat_identity()

static void float_quat_identity ( struct FloatQuat * q )

inlinestatic

initialises a quaternion to identity

Definition at line 368 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(), generate_reference_rate(), init_invariant_state(), init_invariant_state(), init_state(), nav_init(), reset_state(), stab_sp_to_quat_f(), stabilization_andi_init(), 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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◆ float_quat_integrate()

void float_quat_integrate	(	struct FloatQuat *	q,
		const struct FloatRates *	omega,
		const float	dt
	)

extern

in place quaternion integration with constant rotational velocity

Definition at line 408 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(), generate_reference_attitude(), and propagate_ref().

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◆ float_quat_integrate_fi()

void float_quat_integrate_fi	(	struct FloatQuat *	q,
		const struct FloatRates *	omega,
		const float	dt
	)

extern

in place first order quaternion integration with constant rotational velocity

Definition at line 392 of file pprz_algebra_float.c.

References foo, FloatRates::p, FloatRates::q, FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and FloatRates::r.

◆ float_quat_inv_comp()

void float_quat_inv_comp	(	struct FloatQuat *	b2c,
		const struct FloatQuat *	a2b,
		const struct FloatQuat *	a2c
	)

extern

Composition (multiplication) of two quaternions.

b2c = a2b inv_comp a2c , aka b2c = inv(_a2b) * a2c

Definition at line 344 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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◆ float_quat_inv_comp_norm_shortest()

void float_quat_inv_comp_norm_shortest	(	struct FloatQuat *	b2c,
		const struct FloatQuat *	a2b,
		const struct FloatQuat *	a2c
	)

extern

Composition (multiplication) of two quaternions with normalization.

b2c = a2b inv_comp a2c , aka b2c = inv(_a2b) * a2c

Definition at line 366 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(), control_error_attitude(), float_quat_tilt_twist(), generate_reference_attitude(), ins_float_invariant_update_gps(), stabilization_indi_attitude_controller(), and stabilization_indi_attitude_run().

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◆ float_quat_invert()

static void float_quat_invert	(	struct FloatQuat *	qo,
		const struct FloatQuat *	qi
	)

inlinestatic

Definition at line 394 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().

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◆ float_quat_norm()

static float float_quat_norm ( const struct FloatQuat * q )

inlinestatic

Definition at line 378 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().

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◆ float_quat_normalize()

static void float_quat_normalize ( struct FloatQuat * q )

inlinestatic

Definition at line 383 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(), generate_reference_attitude(), 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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◆ float_quat_of_axis_angle()

void float_quat_of_axis_angle	(	struct FloatQuat *	q,
		const struct FloatVect3 *	uv,
		const float	angle
	)

extern

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 559 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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◆ float_quat_of_eulers()

void float_quat_of_eulers	(	struct FloatQuat *	q,
		const struct FloatEulers *	e
	)

extern

Quaternion from Euler angles.

Parameters

q	Quat output
e	Euler input

Definition at line 485 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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◆ float_quat_of_eulers_yxz()

void float_quat_of_eulers_yxz	(	struct FloatQuat *	q,
		const struct FloatEulers *	e
	)

extern

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

Parameters

q	Quat output
e	Euler input

Definition at line 540 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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◆ float_quat_of_eulers_zxy()

void float_quat_of_eulers_zxy	(	struct FloatQuat *	q,
		const struct FloatEulers *	e
	)

extern

quat from euler rotation 'ZXY' This rotation order is useful if you need 90 deg pitch

Parameters

q	Quat output
e	Euler input

Definition at line 512 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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◆ float_quat_of_orientation_vect()

void float_quat_of_orientation_vect	(	struct FloatQuat *	q,
		const struct FloatVect3 *	ov
	)

extern

Quaternion from orientation vector.

Length/norm of the vector is the angle.

Definition at line 568 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().

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◆ float_quat_of_rmat()

void float_quat_of_rmat	(	struct FloatQuat *	q,
		const struct FloatRMat *	rm
	)

extern

Quaternion from rotation matrix.

Definition at line 585 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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◆ float_quat_tilt_twist()

void float_quat_tilt_twist	(	struct FloatQuat *	tilt,
		struct FloatQuat *	twist,
		const struct FloatQuat *	quat
	)

extern

Tilt twist decomposition of quaternion.

Decomposes a quaternion rotation in two rotations:

A rotation that aligns the z axis.
A rotation around the z axis.

Useful for control of vehicles that are slow in rotation around the z axis.

Parameters

tilt	Tilt output
twist	Twist output
quat	Quaternion input

Definition at line 642 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_controller(), and stabilization_indi_attitude_run().

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◆ float_quat_vmult()

void float_quat_vmult	(	struct FloatVect3 *	v_out,
		const struct FloatQuat *	q,
		const struct FloatVect3 *	v_in
	)

extern

rotate 3D vector by quaternion.

vb = q_a2b * va * q_a2b^-1

Definition at line 429 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(), stabilization_andi_enter(), stabilization_andi_run(), update_state(), update_state_heading(), and vel_est_cb().

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◆ float_quat_wrap_shortest()

static void float_quat_wrap_shortest ( struct FloatQuat * q )

inlinestatic

Definition at line 399 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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◆ float_rates_integrate_fi()

void float_rates_integrate_fi	(	struct FloatRates *	r,
		const struct FloatRates *	dr,
		const float	dt
	)

extern

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.

◆ float_rates_of_euler_dot()

void float_rates_of_euler_dot	(	struct FloatRates *	r,
		const struct FloatEulers *	e,
		const struct FloatEulers *	edot
	)

extern

Definition at line 53 of file pprz_algebra_float.c.

References foo, FloatRates::p, FloatEulers::phi, FloatRates::q, FloatRates::r, and FloatEulers::theta.

◆ float_rates_vect3_integrate_fi()

void float_rates_vect3_integrate_fi	(	struct FloatRates *	r,
		const struct FloatVect3 *	dr,
		const float	dt
	)

extern

in place first order integration of angular rates

Definition at line 46 of file pprz_algebra_float.c.

References foo, FloatRates::p, FloatRates::q, and FloatRates::r.

Referenced by stabilization_andi_run().

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◆ float_rmat_comp()

void float_rmat_comp	(	struct FloatRMat *	m_a2c,
		const struct FloatRMat *	m_a2b,
		const struct FloatRMat *	m_b2c
	)

extern

Composition (multiplication) of two rotation matrices.

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

Definition at line 86 of file pprz_algebra_float.c.

References foo.

Referenced by detection_cb(), float_rmat_integrate_fi(), and ins_vectornav_propagate().

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◆ float_rmat_comp_inv()

void float_rmat_comp_inv	(	struct FloatRMat *	m_a2b,
		const struct FloatRMat *	m_a2c,
		const struct FloatRMat *	m_b2c
	)

extern

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 102 of file pprz_algebra_float.c.

References foo.

◆ float_rmat_identity()

static void float_rmat_identity ( struct FloatRMat * rm )

inlinestatic

initialises a rotation matrix to identity

Definition at line 258 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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◆ float_rmat_integrate_fi()

void float_rmat_integrate_fi	(	struct FloatRMat *	rm,
		const struct FloatRates *	omega,
		const float	dt
	)

extern

in place first order integration of a rotation matrix

Definition at line 269 of file pprz_algebra_float.c.

References float_rmat_comp(), foo, FloatRates::p, FloatRates::q, and FloatRates::r.

Referenced by ahrs_fc_propagate().

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◆ float_rmat_inv()

void float_rmat_inv	(	struct FloatRMat *	m_b2a,
		const struct FloatRMat *	m_a2b
	)

extern

Inverse/transpose of a rotation matrix.

m_b2a = inv(_m_a2b) = transp(_m_a2b)

Definition at line 63 of file pprz_algebra_float.c.

References foo, and RMAT_ELMT.

Referenced by gps_cb().

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◆ float_rmat_mult()

void float_rmat_mult	(	struct FloatEulers *	rb,
		const struct FloatRMat *	m_a2b,
		const struct FloatEulers *	ra
	)

extern

rotate angle by rotation matrix.

rb = m_a2b * ra

Definition at line 138 of file pprz_algebra_float.c.

References foo.

Referenced by state2stereocam().

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◆ float_rmat_norm()

float float_rmat_norm ( const struct FloatRMat * rm )

extern

Norm of a rotation matrix.

Definition at line 76 of file pprz_algebra_float.c.

References foo, and SQUARE.

◆ float_rmat_of_axis_angle()

void float_rmat_of_axis_angle	(	struct FloatRMat *	rm,
		const struct FloatVect3 *	uv,
		const float	angle
	)

extern

initialises a rotation matrix from unit vector axis and angle

Definition at line 177 of file pprz_algebra_float.c.

References foo, and RMAT_ELMT.

◆ float_rmat_of_eulers_312()

void float_rmat_of_eulers_312	(	struct FloatRMat *	rm,
		const struct FloatEulers *	e
	)

extern

Definition at line 222 of file pprz_algebra_float.c.

References foo, FloatEulers::phi, FloatEulers::psi, RMAT_ELMT, and FloatEulers::theta.

◆ float_rmat_of_eulers_321()

void float_rmat_of_eulers_321	(	struct FloatRMat *	rm,
		const struct FloatEulers *	e
	)

extern

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.

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 202 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().

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◆ float_rmat_of_quat()

void float_rmat_of_quat	(	struct FloatRMat *	rm,
		const struct FloatQuat *	q
	)

extern

Definition at line 244 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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◆ float_rmat_ratemult()

void float_rmat_ratemult	(	struct FloatRates *	rb,
		const struct FloatRMat *	m_a2b,
		const struct FloatRates *	ra
	)

extern

rotate anglular rates by rotation matrix.

rb = m_a2b * ra

Definition at line 158 of file pprz_algebra_float.c.

References foo.

Referenced by ahrs_vectornav_propagate(), imu_gyro_raw_cb(), and ins_vectornav_propagate().

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◆ float_rmat_reorthogonalize()

float float_rmat_reorthogonalize ( struct FloatRMat * rm )

extern

Definition at line 294 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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◆ float_rmat_transp_mult()

void float_rmat_transp_mult	(	struct FloatEulers *	rb,
		const struct FloatRMat *	m_b2a,
		const struct FloatEulers *	ra
	)

extern

rotate angle by transposed rotation matrix.

rb = m_b2a^T * ra

Definition at line 148 of file pprz_algebra_float.c.

References foo.

◆ float_rmat_transp_ratemult()

void float_rmat_transp_ratemult	(	struct FloatRates *	rb,
		const struct FloatRMat *	m_b2a,
		const struct FloatRates *	ra
	)

extern

rotate anglular rates by transposed rotation matrix.

rb = m_b2a^T * ra

Definition at line 168 of file pprz_algebra_float.c.

References foo.

Referenced by imu_gyro_raw_cb().

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◆ float_rmat_transp_vmult()

void float_rmat_transp_vmult	(	struct FloatVect3 *	vb,
		const struct FloatRMat *	m_b2a,
		const struct FloatVect3 *	va
	)

extern

rotate 3D vector by transposed rotation matrix.

vb = m_b2a^T * va

Definition at line 128 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(), cam_gimbal_target(), 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(), stereocam_parse_msg(), update_tag_position(), Vb_to_Va(), and wind_estimation_quadrotor_periodic().

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◆ float_rmat_vmult()

void float_rmat_vmult	(	struct FloatVect3 *	vb,
		const struct FloatRMat *	m_a2b,
		const struct FloatVect3 *	va
	)

extern

rotate 3D vector by rotation matrix.

vb = m_a2b * va

Definition at line 118 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(), cam_gimbal_target(), detection_cb(), gps_cb(), imu_accel_raw_cb(), send_ins_flow(), Va_to_Vb(), and wind_estimator_periodic().

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◆ float_vect2_bound_in_2d()

void float_vect2_bound_in_2d	(	struct FloatVect2 *	vect2,
		const float	bound
	)

extern

Definition at line 1108 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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◆ float_vect2_norm()

static float float_vect2_norm ( const struct FloatVect2 * v )

inlinestatic

Definition at line 139 of file pprz_algebra_float.h.

References float_vect2_norm2(), and foo.

Referenced by air_data_parse_WIND_INFO(), airspeed_consistency_periodic(), 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_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_guidance_steering_setpoints(), rover_holo_guidance_run(), send_wind(), and wind_estimation_quadrotor_periodic().

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◆ float_vect2_norm2()

static float float_vect2_norm2 ( const struct FloatVect2 * v )

inlinestatic

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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◆ float_vect2_normalize()

static void float_vect2_normalize ( struct FloatVect2 * v )

inlinestatic

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(), nav_oval(), and nav_oval().

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◆ float_vect2_scale_in_2d()

void float_vect2_scale_in_2d	(	struct FloatVect2 *	vect2,
		const float	norm_des
	)

extern

Definition at line 1119 of file pprz_algebra_float.c.

References FLOAT_VECT2_NORM, foo, scale, FloatVect2::x, and FloatVect2::y.

◆ float_vect3_bound_in_2d()

void float_vect3_bound_in_2d	(	struct FloatVect3 *	vect3,
		const float	bound
	)

extern

Definition at line 1074 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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◆ float_vect3_bound_in_3d()

void float_vect3_bound_in_3d	(	struct FloatVect3 *	vect3,
		const float	bound
	)

extern

Definition at line 1085 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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◆ float_vect3_integrate_fi()

void float_vect3_integrate_fi	(	struct FloatVect3 *	vec,
		const struct FloatVect3 *	dv,
		const float	dt
	)

extern

in place first order integration of a 3D-vector

Definition at line 30 of file pprz_algebra_float.c.

References foo.

Referenced by stabilization_andi_run().

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◆ float_vect3_norm()

static float float_vect3_norm ( const struct FloatVect3 * v )

inlinestatic

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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◆ float_vect3_norm2()

static float float_vect3_norm2 ( const struct FloatVect3 * v )

inlinestatic

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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◆ float_vect3_normalize()

static void float_vect3_normalize ( struct FloatVect3 * v )

inlinestatic

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(), cam_gimbal_target(), geo_mag_event(), and shift_tracking_init().

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◆ float_vect3_scale_in_2d()

void float_vect3_scale_in_2d	(	struct FloatVect3 *	vect3,
		const float	norm_des
	)

extern

Definition at line 1097 of file pprz_algebra_float.c.

References FLOAT_VECT2_NORM, foo, scale, FloatVect3::x, and FloatVect3::y.

◆ float_vect_add()

static void float_vect_add	(	float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

a += b

Definition at line 583 of file pprz_algebra_float.h.

References b.

Referenced by ekf_measurement_step(), ekf_prediction_step(), runge_kutta_1_float(), runge_kutta_2_float(), runge_kutta_4_float(), simple_kinematic_kalman_update(), and trilateration_init().

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◆ float_vect_copy()

static void float_vect_copy	(	float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

a = b

Definition at line 555 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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◆ float_vect_diff()

static void float_vect_diff	(	float *	o,
		const float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

o = a - b

Definition at line 569 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().

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◆ float_vect_dot_product()

static float float_vect_dot_product	(	const float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

a.b

Definition at line 629 of file pprz_algebra_float.h.

References b, and foo.

Referenced by stabilization_indi_rate_run(), and trilateration_init().

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◆ float_vect_mul()

static void float_vect_mul	(	float *	o,
		const float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

o = a * b (element wise)

Definition at line 576 of file pprz_algebra_float.h.

References b.

◆ float_vect_norm()

static float float_vect_norm	(	const float *	a,
		const int	n
	)

inlinestatic

||a||

Definition at line 613 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().

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◆ float_vect_scale()

static void float_vect_scale	(	float *	a,
		const float	s,
		const int	n
	)

inlinestatic

a *= s

Definition at line 622 of file pprz_algebra_float.h.

References s.

Referenced by discrete_ekf_no_north_predict(), ekf_measurement_step(), ekf_prediction_step(), and lms_estimation().

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◆ float_vect_sdiv()

static void float_vect_sdiv	(	float *	o,
		const float *	a,
		const float	s,
		const int	n
	)

inlinestatic

o = a / s

Definition at line 604 of file pprz_algebra_float.h.

References foo, and s.

Referenced by pprz_qr_float(), and trilateration_init().

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◆ float_vect_smul()

static void float_vect_smul	(	float *	o,
		const float *	a,
		const float	s,
		const int	n
	)

inlinestatic

o = a * s

Definition at line 597 of file pprz_algebra_float.h.

References s.

Referenced by lms_estimation(), runge_kutta_1_float(), runge_kutta_2_float(), runge_kutta_4_float(), and trilateration_init().

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◆ float_vect_sub()

static void float_vect_sub	(	float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

a -= b

Definition at line 590 of file pprz_algebra_float.h.

References b.

◆ float_vect_sum()

static void float_vect_sum	(	float *	o,
		const float *	a,
		const float *	b,
		const int	n
	)

inlinestatic

o = a + b

Definition at line 562 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(), linear_kalman_filter_predict(), linear_kalman_filter_update(), oneloop_andi_run(), and runge_kutta_4_float().

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◆ float_vect_zero()

static void float_vect_zero	(	float *	a,
		const int	n
	)

inlinestatic

a = 0

Definition at line 548 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_andi_enter(), stabilization_andi_init(), stabilization_andi_run(), stabilization_indi_enter(), stabilization_indi_init(), stabilization_indi_rate_run(), and wind_estimation_quadrotor_reset().

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

Data Structures

Macros

Functions

Detailed Description

Data Structure Documentation

◆ FloatVect2

◆ FloatVect3

◆ FloatQuat

◆ FloatMat33

◆ FloatRMat

◆ FloatEulers

◆ FloatRates

Macro Definition Documentation

◆ FLOAT_ANGLE_NORMALIZE

◆ FLOAT_EULERS_NORM

◆ FLOAT_EULERS_OF_QUAT

◆ FLOAT_EULERS_OF_RMAT

◆ FLOAT_EULERS_ZERO

◆ FLOAT_MAT33_DIAG

◆ FLOAT_MAT33_ZERO

◆ FLOAT_QUAT_COMP

◆ FLOAT_QUAT_COMP_INV

◆ FLOAT_QUAT_COMP_INV_NORM_SHORTEST

◆ FLOAT_QUAT_COMP_NORM_SHORTEST

◆ FLOAT_QUAT_DERIVATIVE

◆ FLOAT_QUAT_DERIVATIVE_LAGRANGE

◆ FLOAT_QUAT_DIFFERENTIAL

◆ FLOAT_QUAT_EXTRACT

◆ FLOAT_QUAT_INTEGRATE

◆ FLOAT_QUAT_INV_COMP

◆ FLOAT_QUAT_INV_COMP_NORM_SHORTEST

◆ FLOAT_QUAT_INVERT

◆ FLOAT_QUAT_MULT

◆ FLOAT_QUAT_NORM

◆ FLOAT_QUAT_NORM2

◆ FLOAT_QUAT_NORMALIZE

◆ FLOAT_QUAT_OF_AXIS_ANGLE

◆ FLOAT_QUAT_OF_EULERS

◆ FLOAT_QUAT_OF_ORIENTATION_VECT

◆ FLOAT_QUAT_OF_RMAT

◆ FLOAT_QUAT_VMULT

◆ FLOAT_QUAT_WRAP_SHORTEST

◆ FLOAT_QUAT_ZERO

◆ FLOAT_RATES_INTEGRATE_FI

◆ FLOAT_RATES_LIN_CMB

◆ FLOAT_RATES_NORM

◆ FLOAT_RATES_OF_EULER_DOT

◆ FLOAT_RATES_ZERO

◆ FLOAT_RMAT_COMP

◆ FLOAT_RMAT_COMP_INV

◆ FLOAT_RMAT_INTEGRATE_FI

◆ FLOAT_RMAT_INV

◆ FLOAT_RMAT_NORM

◆ FLOAT_RMAT_OF_AXIS_ANGLE

◆ float_rmat_of_eulers

◆ FLOAT_RMAT_OF_EULERS

◆ FLOAT_RMAT_OF_EULERS_312

◆ FLOAT_RMAT_OF_EULERS_321

◆ FLOAT_RMAT_OF_QUAT

◆ FLOAT_RMAT_RATEMULT

◆ FLOAT_RMAT_TRANSP_RATEMULT

◆ FLOAT_RMAT_TRANSP_VMULT

◆ FLOAT_RMAT_VMULT

◆ FLOAT_VECT2_NORM

◆ FLOAT_VECT2_NORMALIZE

◆ FLOAT_VECT2_ZERO

◆ FLOAT_VECT3_INTEGRATE_FI

◆ FLOAT_VECT3_NORM

◆ FLOAT_VECT3_NORMALIZE

◆ FLOAT_VECT3_ZERO

◆ M_SQRT2

◆ MAKE_MATRIX_PTR

Function Documentation

◆ float_eulers_norm()

◆ float_eulers_of_quat()

◆ float_eulers_of_quat_yxz()

◆ float_eulers_of_quat_zxy()

◆ float_eulers_of_rmat()

◆ float_log_n()

◆ float_mat2_mult()