Paparazzi fixed point algebra. More...

#include "std.h"
#include "math/pprz_algebra.h"
#include "math/pprz_trig_int.h"
#include <stdlib.h>

Include dependency graph for pprz_algebra_int.h:

Data Structures
struct	Uint8Vect3

struct	Int8Vect3

struct	Uint16Vect3

struct	Int16Vect3

struct	Int32Vect2

struct	Int32Vect3

struct	Int32Quat
	Rotation quaternion. More...

struct	Int64Quat

struct	Int16Eulers

struct	Int32Eulers
	euler angles More...

struct	Int32RMat
	rotation matrix More...

struct	Int32Mat33

struct	Int16Rates

struct	Int32Rates
	angular rates More...

struct	Int64Rates

struct	Int64Vect2

struct	Int64Vect3

Macros
#define	INT32_POS_FRAC 8

#define	INT32_POS_OF_CM 2.56

#define	INT32_POS_OF_CM_NUM 64

#define	INT32_POS_OF_CM_DEN 25

#define	INT32_SPEED_FRAC 19

#define	INT32_SPEED_OF_CM_S 5242.88

#define	INT32_SPEED_OF_CM_S_NUM 41943

#define	INT32_SPEED_OF_CM_S_DEN 8

#define	INT32_ACCEL_FRAC 10

#define	INT32_MAG_FRAC 11

#define	INT32_PERCENTAGE_FRAC 10

#define	INT32_QUAT_FRAC 15

#define	INT32_ANGLE_FRAC 12

#define	INT32_RATE_FRAC 12

#define	INT32_ANGLE_PI_4 (int32_t)ANGLE_BFP_OF_REAL( 0.7853981633974483096156608458198757)

#define	INT32_ANGLE_PI_2 (int32_t)ANGLE_BFP_OF_REAL( 1.5707963267948966192313216916397514)

#define	INT32_ANGLE_PI (int32_t)ANGLE_BFP_OF_REAL( 3.1415926535897932384626433832795029)

#define	INT32_ANGLE_2_PI (int32_t)ANGLE_BFP_OF_REAL(2.*3.1415926535897932384626433832795029)

#define	INT32_RAD_OF_DEG(_deg) (int32_t)(((int64_t)(_deg) * 14964008)/857374503)

#define	INT32_DEG_OF_RAD(_rad) (int32_t)(((int64_t)(_rad) * 857374503)/14964008)

#define	INT32_ANGLE_NORMALIZE(_a)

#define	INT32_COURSE_NORMALIZE(_a)

#define	INT32_TRIG_FRAC 14

#define	LBFP_OF_REAL(_vr, _frac) ((_vr)*(1LL<<(_frac)))

#define	BFP_OF_REAL(_vr, _frac) ((_vr)*(1<<(_frac)))

#define	FLOAT_OF_BFP(_vbfp, _frac) ((float)(_vbfp)/(1<<(_frac)))

#define	DOUBLE_OF_BFP(_vbfp, _frac) ((double)(_vbfp)/(1<<(_frac)))

#define	RATE_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_RATE_FRAC)

#define	RATE_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_RATE_FRAC)

#define	ANGLE_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_ANGLE_FRAC)

#define	ANGLE_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_ANGLE_FRAC)

#define	QUAT1_BFP_OF_REAL(_qf) BFP_OF_REAL((_qf), INT32_QUAT_FRAC)

#define	QUAT1_FLOAT_OF_BFP(_qi) FLOAT_OF_BFP((_qi), INT32_QUAT_FRAC)

#define	TRIG_BFP_OF_REAL(_tf) BFP_OF_REAL((_tf), INT32_TRIG_FRAC)

#define	TRIG_FLOAT_OF_BFP(_ti) FLOAT_OF_BFP((_ti),INT32_TRIG_FRAC)

#define	POS_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_POS_FRAC)

#define	POS_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_POS_FRAC)

#define	SPEED_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_SPEED_FRAC)

#define	SPEED_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_SPEED_FRAC)

#define	ACCEL_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_ACCEL_FRAC)

#define	ACCEL_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_ACCEL_FRAC)

#define	MAG_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_MAG_FRAC)

#define	MAG_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_MAG_FRAC)

#define	INT_MULT_RSHIFT(_a, _b, _r) (((_a)*(_b))>>(_r))

#define	INT32_SQRT(_out, _in) WARNING("INT32_SQRT macro is deprecated, use the lower case function instead") { _out = int32_sqrt(_in); }

#define	INT_VECT2_ZERO(_v) VECT2_ASSIGN(_v, 0, 0)

#define	INT32_VECT2_NORM(_v) int32_sqrt(VECT2_NORM2(_v))

#define	INT32_VECT2_NORMALIZE(_v, _frac) WARNING("INT32_VECT2_NORMALIZE macro is deprecated, use the lower case function instead") int32_vect2_normalize(&(_v), _frac)

#define	INT32_VECT2_RSHIFT(_o, _i, _r)

#define	INT32_VECT2_LSHIFT(_o, _i, _l)

#define	INT32_VECT2_SCALE_2(_a, _b, _num, _den)

#define	INT_VECT3_ZERO(_v) VECT3_ASSIGN(_v, 0, 0, 0)

#define	INT32_VECT3_ZERO(_v) VECT3_ASSIGN(_v, 0, 0, 0)

#define	INT32_VECT3_SCALE_2(_a, _b, _num, _den)

#define	INT32_VECT3_NORM(_v) int32_sqrt(VECT3_NORM2(_v))

#define	INT32_VECT3_RSHIFT(_o, _i, _r)

#define	INT32_VECT3_LSHIFT(_o, _i, _l)

#define	INT32_MAT33_ZERO(_m)

#define	INT32_MAT33_DIAG(_m, _d00, _d11, _d22)

#define	int32_rmat_of_eulers int32_rmat_of_eulers_321
	Rotation matrix from Euler angles.

#define	INT32_RMAT_COMP(_m_a2c, _m_a2b, _m_b2c) WARNING("INT32_RMAT_COMP macro is deprecated, use the lower case function instead") int32_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))

#define	INT32_RMAT_COMP_INV(_m_a2b, _m_a2c, _m_b2c) WARNING("INT32_RMAT_COMP_INV macro is deprecated, use the lower case function instead") int32_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))

#define	INT32_RMAT_VMULT(_vb, _m_a2b, _va) WARNING("INT32_RMAT_VMULT macro is deprecated, use the lower case function instead") int32_rmat_vmult(&(_vb), &(_m_a2b), &(_va))

#define	INT32_RMAT_TRANSP_VMULT(_vb, _m_b2a, _va) WARNING("INT32_RMAT_TRANSP_VMULT macro is deprecated, use the lower case function instead") int32_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))

#define	INT32_RMAT_RATEMULT(_rb, _m_a2b, _ra) WARNING("INT32_RMAT_RATEMULT macro is deprecated, use the lower case function instead") int32_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))

#define	INT32_RMAT_TRANSP_RATEMULT(_rb, _m_b2a, _ra) WARNING("INT32_RMAT_TRANSP_RATEMULT macro is deprecated, use the lower case function instead") int32_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))

#define	INT32_RMAT_OF_QUAT(_rm, _q) WARNING("INT32_RMAT_OF_QUAT macro is deprecated, use the lower case function instead") int32_rmat_of_quat(&(_rm), &(_q))

#define	INT32_RMAT_OF_EULERS(_rm, _e) WARNING("INT32_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") int32_rmat_of_eulers_321(&(_rm), &(_e))

#define	INT32_RMAT_OF_EULERS_321(_rm, _e) WARNING("INT32_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") int32_rmat_of_eulers_321(&(_rm), &(_e))

#define	INT32_RMAT_OF_EULERS_312(_rm, _e) WARNING("INT32_RMAT_OF_EULERS_312 macro is deprecated, use the lower case function instead") int32_rmat_of_eulers_312(&(_rm), &(_e))

#define	INT32_QUAT_ZERO(_q) WARNING("INT32_QUAT_ZERO macro is deprecated, use the lower case function instead") int32_quat_identity(&(_q))

#define	INT32_QUAT_NORM(n, q) WARNING("INT32_QUAT_NORM macro is deprecated, use the lower case function instead") { n = int32_quat_norm(&(q)); }

#define	INT32_QUAT_WRAP_SHORTEST(q) WARNING("INT32_QUAT_WRAP_SHORTEST macro is deprecated, use the lower case function instead") int32_quat_wrap_shortest(&(q))

#define	INT32_QUAT_NORMALIZE(q) WARNING("INT32_QUAT_NORMALIZE macro is deprecated, use the lower case function instead") int32_quat_normalize(&(q))

#define	INT32_QUAT_COMP(_a2c, _a2b, _b2c) WARNING("INT32_QUAT_COMP macro is deprecated, use the lower case function instead") int32_quat_comp(&(_a2c), &(_a2b), &(_b2c))

#define	INT32_QUAT_COMP_INV(_a2b, _a2c, _b2c) WARNING("INT32_QUAT_COMP_INV macro is deprecated, use the lower case function instead") int32_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))

#define	INT32_QUAT_INV_COMP(_b2c, _a2b, _a2c) WARNING("INT32_QUAT_INV_COMP macro is deprecated, use the lower case function instead") int32_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))

#define	INT32_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) WARNING("INT32_QUAT_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") int32_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))

#define	INT32_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) WARNING("INT32_QUAT_INV_COMP_NORM_SHORTEST macro is deprecated, use the lower case function instead") int32_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))

#define	INT32_QUAT_DERIVATIVE(_qd, _r, _q) WARNING("INT32_QUAT_DERIVATIVE macro is deprecated, use the lower case function instead") int32_quat_derivative(&(_qd), &(_r), &(_q))

#define	INT32_QUAT_INTEGRATE_FI(_q, _hr, _omega, _f) WARNING("INT32_QUAT_INTEGRATE_FI macro is deprecated, use the lower case function instead") int32_quat_integrate_fi(&(_q), &(_hr), &(_omega), _f)

#define	INT32_QUAT_VMULT(v_out, q, v_in) WARNING("INT32_QUAT_VMULT macro is deprecated, use the lower case function instead") int32_quat_vmult(&(v_out), &(q), &(v_in))

#define	INT32_QUAT_OF_EULERS(_q, _e) WARNING("INT32_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") int32_quat_of_eulers(&(_q), &(_e))

#define	INT32_QUAT_OF_AXIS_ANGLE(_q, _uv, _an) WARNING("INT32_QUAT_OF_AXIS_ANGLE macro is deprecated, use the lower case function instead") int32_quat_of_axis_angle(&(_q), &(_uv), _an)

#define	INT32_QUAT_OF_RMAT(_q, _r) WARNING("INT32_QUAT_OF_RMAT macro is deprecated, use the lower case function instead") int32_quat_of_rmat(&(_q), &(_r))

#define	INT_EULERS_ZERO(_e) EULERS_ASSIGN(_e, 0, 0, 0)

#define	INT32_EULERS_OF_RMAT(_e, _rm) WARNING("INT32_EULERS_OF_RMAT macro is deprecated, use the lower case function instead") int32_eulers_of_rmat(&(_e), &(_rm))

#define	INT32_EULERS_OF_QUAT(_e, _q) WARNING("INT32_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") int32_eulers_of_quat(&(_e), &(_q))

#define	INT32_EULERS_LSHIFT(_o, _i, _r)

#define	INT32_EULERS_RSHIFT(_o, _i, _r)

#define	INT_RATES_ZERO(_e) RATES_ASSIGN(_e, 0, 0, 0)

#define	INT_RATES_RSHIFT(_o, _i, _r)

#define	INT_RATES_LSHIFT(_o, _i, _r)

#define	int32_eulers_dot_of_rates int32_eulers_dot_321_of_rates

#define	INT32_RATES_OF_EULERS_DOT_321(_r, _e, _ed) WARNING("INT32_RATES_OF_EULERS_DOT_321 macro is deprecated, use the lower case function instead") int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))

#define	INT32_RATES_OF_EULERS_DOT(_r, _e, _ed) WARNING("INT32_RATES_OF_EULERS_DOT macro is deprecated, use the lower case function instead") int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))

#define	INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) WARNING("INT32_EULERS_DOT_321_OF_RATES macro is deprecated, use the lower case function instead") int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))

#define	INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) WARNING("INT32_EULERS_DOT_OF_RATES macro is deprecated, use the lower case function instead") int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))

Functions
uint32_t	int32_sqrt (uint32_t in)

uint32_t	int32_gcd (uint32_t a, uint32_t b)

static uint32_t	int32_vect2_norm2 (struct Int32Vect2 *v)
	return squared norm of 2D vector

static uint32_t	int32_vect2_norm (struct Int32Vect2 *v)
	return norm of 2D vector

static void	int32_vect2_normalize (struct Int32Vect2 *v, uint8_t frac)
	normalize 2D vector inplace

static void	int32_rmat_identity (struct Int32RMat *rm)
	initialises a rotation matrix to identity

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_comp_inv (struct Int32RMat m_a2b, const struct Int32RMat m_a2c, const struct Int32RMat *m_b2c)
	Composition (multiplication) of two rotation matrices.

void	int32_rmat_vmult (struct Int32Vect3 vb, struct Int32RMat m_a2b, struct Int32Vect3 *va)
	rotate 3D vector by rotation matrix.

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_ratemult (struct Int32Rates rb, struct Int32RMat m_a2b, struct Int32Rates *ra)
	rotate anglular rates by rotation matrix.

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_quat (struct Int32RMat rm, struct Int32Quat q)
	Convert unit quaternion to rotation matrix.

void	int32_rmat_of_eulers_321 (struct Int32RMat rm, struct Int32Eulers e)
	Rotation matrix from 321 Euler angles (int).

void	int32_rmat_of_eulers_312 (struct Int32RMat rm, struct Int32Eulers e)
	Rotation matrix from 312 Euler angles.

static void	int32_quat_identity (struct Int32Quat *q)
	initialises a quaternion to identity

static uint32_t	int32_quat_norm (struct Int32Quat *q)
	Norm of a quaternion.

static void	int32_quat_wrap_shortest (struct Int32Quat *q)

static void	int32_quat_normalize (struct Int32Quat *q)
	normalize a quaternion inplace

void	int32_quat_comp (struct Int32Quat a2c, struct Int32Quat a2b, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions.

void	int32_quat_comp_inv (struct Int32Quat a2b, struct Int32Quat a2c, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions.

void	int32_quat_inv_comp (struct Int32Quat b2c, struct Int32Quat a2b, struct Int32Quat *a2c)
	Composition (multiplication) of two quaternions.

void	int32_quat_comp_norm_shortest (struct Int32Quat a2c, struct Int32Quat a2b, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions with normalization.

void	int32_quat_comp_inv_norm_shortest (struct Int32Quat a2b, struct Int32Quat a2c, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions with normalization.

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_derivative (struct Int32Quat qd, const struct Int32Rates r, struct Int32Quat *q)
	Quaternion derivative from rotational velocity.

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_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_quat_of_axis_angle (struct Int32Quat q, struct Int32Vect3 uv, int32_t angle)
	Quaternion from unit vector and angle.

void	int32_quat_of_rmat (struct Int32Quat q, struct Int32RMat r)
	Quaternion from rotation matrix.

void	int32_eulers_of_rmat (struct Int32Eulers e, struct Int32RMat rm)

void	int32_eulers_of_quat (struct Int32Eulers e, struct Int32Quat q)

void	int32_rates_of_eulers_dot_321 (struct Int32Rates r, struct Int32Eulers e, struct Int32Eulers *ed)

void	int32_eulers_dot_321_of_rates (struct Int32Eulers ed, struct Int32Eulers e, struct Int32Rates *r)

static void	int32_vect_zero (int32_t *a, const int n)
	a = 0

static void	int16_vect_zero (int16_t *a, const int n)
	a = 0

static void	int32_vect_set_value (int32_t *a, const int32_t v, const int n)
	a = v * ones(n,1)

static void	int32_vect_copy (int32_t a, const int32_t b, const int n)
	a = b

static void	int32_vect_sum (int32_t o, const int32_t a, const int32_t *b, const int n)
	o = a + b

static void	int32_vect_diff (int32_t o, const int32_t a, const int32_t *b, const int n)
	o = a - b

static void	int32_vect_mul (int32_t o, const int32_t a, const int32_t *b, const int n)
	o = a * b (element wise)

static void	int32_vect_add (int32_t a, const int32_t b, const int n)
	a += b

static void	int32_vect_sub (int32_t a, const int32_t b, const int n)
	a -= b

static void	int32_vect_smul (int32_t o, const int32_t a, const int32_t s, const int n)
	o = a * s

static bool	int32_vect_find (const int32_t a, const int32_t s, int loc, const int n)
	Find value s in array a.

static void	int32_mat_mul (int32_t o, int32_t a, int32_t **b, int m, int n, int l)
	o = a * b

Detailed Description

Paparazzi fixed point algebra.

Definition in file pprz_algebra_int.h.

Data Structures

Macros

Functions

Detailed Description