29#define INT32_SQRT_MAX_ITER 40
#define RMAT_ELMT(_rm, _row, _col)
int32_t p
in rad/s with INT32_RATE_FRAC
int32_t r
in rad/s with INT32_RATE_FRAC
int32_t phi
in rad with INT32_ANGLE_FRAC
int32_t q
in rad/s with INT32_RATE_FRAC
int32_t psi
in rad with INT32_ANGLE_FRAC
int32_t theta
in rad with INT32_ANGLE_FRAC
static void int32_quat_normalize(struct Int32Quat *q)
normalize a quaternion inplace
void int32_eulers_of_quat(struct Int32Eulers *e, struct Int32Quat *q)
void int32_quat_comp(struct Int32Quat *a2c, struct Int32Quat *a2b, struct Int32Quat *b2c)
Composition (multiplication) of two quaternions.
void int32_quat_of_axis_angle(struct Int32Quat *q, struct Int32Vect3 *uv, int32_t angle)
Quaternion from unit vector and angle.
void int32_rmat_ratemult(struct Int32Rates *rb, struct Int32RMat *m_a2b, struct Int32Rates *ra)
rotate anglular rates by rotation matrix.
#define INT_MULT_RSHIFT(_a, _b, _r)
#define QUAT1_BFP_OF_REAL(_qf)
void int32_quat_comp_norm_shortest(struct Int32Quat *a2c, struct Int32Quat *a2b, struct Int32Quat *b2c)
Composition (multiplication) of two quaternions with normalization.
void int32_rmat_of_quat(struct Int32RMat *rm, struct Int32Quat *q)
Convert unit quaternion to rotation matrix.
#define TRIG_FLOAT_OF_BFP(_ti)
#define ANGLE_BFP_OF_REAL(_af)
void int32_quat_of_rmat(struct Int32Quat *q, struct Int32RMat *r)
Quaternion from rotation matrix.
void int32_eulers_dot_321_of_rates(struct Int32Eulers *ed, struct Int32Eulers *e, struct Int32Rates *r)
uint32_t int32_sqrt(uint32_t in)
void int32_quat_inv_comp_norm_shortest(struct Int32Quat *b2c, struct Int32Quat *a2b, struct Int32Quat *a2c)
Composition (multiplication) of two quaternions with normalization.
void int32_quat_comp_inv(struct Int32Quat *a2b, struct Int32Quat *a2c, struct Int32Quat *b2c)
Composition (multiplication) of two quaternions.
void int32_rmat_vmult(struct Int32Vect3 *vb, struct Int32RMat *m_a2b, struct Int32Vect3 *va)
rotate 3D vector by rotation matrix.
void int32_quat_comp_inv_norm_shortest(struct Int32Quat *a2b, struct Int32Quat *a2c, struct Int32Quat *b2c)
Composition (multiplication) of two quaternions with normalization.
uint32_t int32_gcd(uint32_t a, uint32_t b)
void int32_rmat_comp_inv(struct Int32RMat *m_a2b, const struct Int32RMat *m_a2c, const struct Int32RMat *m_b2c)
Composition (multiplication) of two rotation matrices.
static void int32_quat_wrap_shortest(struct Int32Quat *q)
void int32_rmat_transp_ratemult(struct Int32Rates *rb, struct Int32RMat *m_b2a, struct Int32Rates *ra)
rotate anglular rates by transposed rotation matrix.
void int32_rmat_of_eulers_312(struct Int32RMat *rm, struct Int32Eulers *e)
Rotation matrix from 312 Euler angles.
void int32_quat_integrate_fi(struct Int32Quat *q, struct Int64Quat *hr, struct Int32Rates *omega, int freq)
in place quaternion first order integration with constant rotational velocity.
void int32_quat_derivative(struct Int32Quat *qd, const struct Int32Rates *r, struct Int32Quat *q)
Quaternion derivative from rotational velocity.
void int32_quat_vmult(struct Int32Vect3 *v_out, struct Int32Quat *q, struct Int32Vect3 *v_in)
rotate 3D vector by quaternion.
void int32_quat_of_eulers(struct Int32Quat *q, struct Int32Eulers *e)
Quaternion from Euler angles.
void int32_rates_of_eulers_dot_321(struct Int32Rates *r, struct Int32Eulers *e, struct Int32Eulers *ed)
void int32_rmat_transp_vmult(struct Int32Vect3 *vb, struct Int32RMat *m_b2a, struct Int32Vect3 *va)
rotate 3D vector by transposed rotation matrix.
void int32_rmat_comp(struct Int32RMat *m_a2c, const struct Int32RMat *m_a2b, const struct Int32RMat *m_b2c)
Composition (multiplication) of two rotation matrices.
void int32_rmat_of_eulers_321(struct Int32RMat *rm, struct Int32Eulers *e)
Rotation matrix from 321 Euler angles.
#define TRIG_BFP_OF_REAL(_tf)
void int32_quat_inv_comp(struct Int32Quat *b2c, struct Int32Quat *a2b, struct Int32Quat *a2c)
Composition (multiplication) of two quaternions.
#define INT_EULERS_ZERO(_e)
void int32_eulers_of_rmat(struct Int32Eulers *e, struct Int32RMat *rm)
#define INT32_SQRT_MAX_ITER
Paparazzi fixed point algebra.
#define PPRZ_ITRIG_SIN(_s, _a)
#define PPRZ_ITRIG_COS(_c, _a)
int int32_t
Typedef defining 32 bit int type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.