Paparazzi floating point algebra. More...

#include "pprz_algebra_float.h"

Include dependency graph for pprz_algebra_float.c:

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

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

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

void	float_rmat_inv (struct FloatRMat m_b2a, struct FloatRMat m_a2b)
	Inverse/transpose of a rotation matrix. More...

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

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

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

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

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

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

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

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

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

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

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

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 More...

static float	renorm_factor (float n)

float	float_rmat_reorthogonalize (struct FloatRMat *rm)

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

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

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

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

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

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

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

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

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

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

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

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

void	float_quat_of_eulers (struct FloatQuat q, struct FloatEulers e)
	quat of euler roation 'ZYX' More...

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 More...

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. More...

void	float_quat_of_axis_angle (struct FloatQuat q, const struct FloatVect3 uv, float angle)
	Quaternion from unit vector and angle. More...

void	float_quat_of_orientation_vect (struct FloatQuat q, const struct FloatVect3 ov)
	Quaternion from orientation vector. More...

void	float_quat_of_rmat (struct FloatQuat q, struct FloatRMat rm)
	Quaternion from rotation matrix. More...

void	float_quat_tilt_twist (struct FloatQuat tilt, struct FloatQuat twist, struct FloatQuat *quat)
	Tilt twist decomposition of a quaternion (z axis) More...

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' More...

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. More...

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 More...

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

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

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

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

static float	float_mat_minor_4d (float m[4][4], int r0, int r1, int r2, int c0, int c1, int c2)

static void	float_mat_adjoint_4d (float adjOut[4][4], float m[4][4])

static float	float_mat_det_4d (float m[4][4])

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

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. More...

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

float	float_mat_norm_li (float **a, int m, int n)

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)