pprz_orientation_conversion.h File Reference

Generic orientation representation and conversions. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "std.h"

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Data Structures
struct	OrientationReps

Macros
#define	ORREP_QUAT_I   0
	Quaternion (BFP int)
#define	ORREP_EULER_I   1
	zyx Euler (BFP int)
#define	ORREP_RMAT_I   2
	Rotation Matrix (BFP int)
#define	ORREP_QUAT_F   3
	Quaternion (float)
#define	ORREP_EULER_F   4
	zyx Euler (float)
#define	ORREP_RMAT_F   5
	Rotation Matrix (float)

Functions
void	orientationCalcQuat_i (struct OrientationReps *orientation)
void	orientationCalcRMat_i (struct OrientationReps *orientation)
void	orientationCalcEulers_i (struct OrientationReps *orientation)
void	orientationCalcQuat_f (struct OrientationReps *orientation)
void	orientationCalcRMat_f (struct OrientationReps *orientation)
void	orientationCalcEulers_f (struct OrientationReps *orientation)
static bool	orienationCheckValid (struct OrientationReps *orientation)
	Test if orientations are valid.
static void	orientationSetIdentity (struct OrientationReps *orientation)
	Set to identity orientation.
static void	orientationSetQuat_i (struct OrientationReps *orientation, struct Int32Quat *quat)
	Set vehicle body attitude from quaternion (int).
static void	orientationSetRMat_i (struct OrientationReps *orientation, struct Int32RMat *rmat)
	Set vehicle body attitude from rotation matrix (int).
static void	orientationSetEulers_i (struct OrientationReps *orientation, struct Int32Eulers *eulers)
	Set vehicle body attitude from euler angles (int).
static void	orientationSetQuat_f (struct OrientationReps *orientation, struct FloatQuat *quat)
	Set vehicle body attitude from quaternion (float).
static void	orientationSetRMat_f (struct OrientationReps *orientation, struct FloatRMat *rmat)
	Set vehicle body attitude from rotation matrix (float).
static void	orientationSetEulers_f (struct OrientationReps *orientation, struct FloatEulers *eulers)
	Set vehicle body attitude from euler angles (float).
static struct Int32Quat *	orientationGetQuat_i (struct OrientationReps *orientation)
	Get vehicle body attitude quaternion (int).
static struct Int32RMat *	orientationGetRMat_i (struct OrientationReps *orientation)
	Get vehicle body attitude rotation matrix (int).
static struct Int32Eulers *	orientationGetEulers_i (struct OrientationReps *orientation)
	Get vehicle body attitude euler angles (int).
static struct FloatQuat *	orientationGetQuat_f (struct OrientationReps *orientation)
	Get vehicle body attitude quaternion (float).
static struct FloatRMat *	orientationGetRMat_f (struct OrientationReps *orientation)
	Get vehicle body attitude rotation matrix (float).
static struct FloatEulers *	orientationGetEulers_f (struct OrientationReps *orientation)
	Get vehicle body attitude euler angles (float).

Detailed Description

Generic orientation representation and conversions.

This file contains the functions to automatically convert between the different representations. They should normally not be used directly and instead the stateGet/Set interfaces used. Also see the Generic Orientation Representation page.

Author

Felix Ruess felix.nosp@m..rue.nosp@m.ss@gm.nosp@m.ail..nosp@m.com

Definition in file pprz_orientation_conversion.h.