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

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. More...
 
static void orientationSetIdentity (struct OrientationReps *orientation)
 Set to identity orientation. More...
 
static void orientationSetQuat_i (struct OrientationReps *orientation, struct Int32Quat *quat)
 Set vehicle body attitude from quaternion (int). More...
 
static void orientationSetRMat_i (struct OrientationReps *orientation, struct Int32RMat *rmat)
 Set vehicle body attitude from rotation matrix (int). More...
 
static void orientationSetEulers_i (struct OrientationReps *orientation, struct Int32Eulers *eulers)
 Set vehicle body attitude from euler angles (int). More...
 
static void orientationSetQuat_f (struct OrientationReps *orientation, struct FloatQuat *quat)
 Set vehicle body attitude from quaternion (float). More...
 
static void orientationSetRMat_f (struct OrientationReps *orientation, struct FloatRMat *rmat)
 Set vehicle body attitude from rotation matrix (float). More...
 
static void orientationSetEulers_f (struct OrientationReps *orientation, struct FloatEulers *eulers)
 Set vehicle body attitude from euler angles (float). More...
 
static struct Int32QuatorientationGetQuat_i (struct OrientationReps *orientation)
 Get vehicle body attitude quaternion (int). More...
 
static struct Int32RMatorientationGetRMat_i (struct OrientationReps *orientation)
 Get vehicle body attitude rotation matrix (int). More...
 
static struct Int32EulersorientationGetEulers_i (struct OrientationReps *orientation)
 Get vehicle body attitude euler angles (int). More...
 
static struct FloatQuatorientationGetQuat_f (struct OrientationReps *orientation)
 Get vehicle body attitude quaternion (float). More...
 
static struct FloatRMatorientationGetRMat_f (struct OrientationReps *orientation)
 Get vehicle body attitude rotation matrix (float). More...
 
static struct FloatEulersorientationGetEulers_f (struct OrientationReps *orientation)
 Get vehicle body attitude euler angles (float). More...
 

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.