stabilization_attitude_quat_transformations.h File Reference

Quaternion transformation functions. More...

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

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Functions
void	quat_from_rpy_cmd_i (struct Int32Quat *quat, struct Int32Eulers *rpy)
void	quat_from_rpy_cmd_f (struct FloatQuat *quat, struct FloatEulers *rpy)
void	quat_from_earth_cmd_i (struct Int32Quat *quat, struct Int32Vect2 *cmd, int32_t heading)
void	quat_from_earth_cmd_f (struct FloatQuat *quat, struct FloatVect2 *cmd, float heading)

Detailed Description

Quaternion transformation functions.

Definition in file stabilization_attitude_quat_transformations.h.

Function Documentation

quat_from_earth_cmd_f()

void quat_from_earth_cmd_f	(	struct FloatQuat *	quat,
		struct FloatVect2 *	cmd,
		float	heading
	)

Todo:

optimize yaw angle calculation

Definition at line 63 of file stabilization_attitude_quat_transformations.c.

References b, float_quat_comp(), float_quat_normalize(), float_quat_of_orientation_vect(), float_quat_wrap_shortest(), float_rmat_of_quat(), FLOAT_VECT3_NORM, heading, FloatRMat::m, QUAT_ASSIGN, VECT3_ASSIGN, VECT3_CROSS_PRODUCT, VECT3_DOT_PRODUCT, FloatVect2::x, FloatVect3::x, FloatVect2::y, FloatVect3::y, and FloatVect3::z.

Referenced by quat_from_earth_cmd_i().

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quat_from_earth_cmd_i()

void quat_from_earth_cmd_i	(	struct Int32Quat *	quat,
		struct Int32Vect2 *	cmd,
		int32_t	heading
	)

Definition at line 48 of file stabilization_attitude_quat_transformations.c.

References ANGLE_FLOAT_OF_BFP, heading, QUAT_BFP_OF_REAL, quat_from_earth_cmd_f(), FloatVect2::x, Int32Vect2::x, FloatVect2::y, and Int32Vect2::y.

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quat_from_rpy_cmd_f()

void quat_from_rpy_cmd_f	(	struct FloatQuat *	quat,
		struct FloatEulers *	rpy
	)

Definition at line 37 of file stabilization_attitude_quat_transformations.c.

References float_quat_of_orientation_vect(), FloatEulers::phi, FloatEulers::psi, and FloatEulers::theta.

Referenced by quat_from_rpy_cmd_i().

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quat_from_rpy_cmd_i()

void quat_from_rpy_cmd_i	(	struct Int32Quat *	quat,
		struct Int32Eulers *	rpy
	)

Definition at line 28 of file stabilization_attitude_quat_transformations.c.

References EULERS_FLOAT_OF_BFP, QUAT_BFP_OF_REAL, and quat_from_rpy_cmd_f().

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