This generic orientation representation consists of a struct, containing the 6 orientation representations, and a status variable. More...

Collaboration diagram for Generic Orientation Representations:

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 Int32Quat *	orientationGetQuat_i (struct OrientationReps *orientation)
	Get vehicle body attitude quaternion (int). More...

static struct Int32RMat *	orientationGetRMat_i (struct OrientationReps *orientation)
	Get vehicle body attitude rotation matrix (int). More...

static struct Int32Eulers *	orientationGetEulers_i (struct OrientationReps *orientation)
	Get vehicle body attitude euler angles (int). More...

static struct FloatQuat *	orientationGetQuat_f (struct OrientationReps *orientation)
	Get vehicle body attitude quaternion (float). More...

static struct FloatRMat *	orientationGetRMat_f (struct OrientationReps *orientation)
	Get vehicle body attitude rotation matrix (float). More...

static struct FloatEulers *	orientationGetEulers_f (struct OrientationReps *orientation)
	Get vehicle body attitude euler angles (float). More...

Detailed Description

This generic orientation representation consists of a struct, containing the 6 orientation representations, and a status variable.

The bits in the status variable indicate which representations of the orientation are up-to-date.

When a getter is used to get a certain representation, the status bit is checked to see if the current value is already available in the desired orientation representation. If the desired representation is not available, it will be calculated.

When a setter is used to set a representation, all status bits are cleared, and only the status bit for the set representation is set to one.

Data Structure Documentation

struct OrientationReps

Definition at line 79 of file pprz_orientation_conversion.h.

Collaboration diagram for OrientationReps:

Data Fields
struct FloatEulers	eulers_f	Orienation in zyx euler angles. Units: rad
struct Int32Eulers	eulers_i	Orientation in zyx euler angles. Units: rad in BFP with INT32_ANGLE_FRAC
struct FloatQuat	quat_f	Orientation as quaternion. Units: unit length quaternion
struct Int32Quat	quat_i	Orientation quaternion. Units: INT32_QUAT_FRAC
struct FloatRMat	rmat_f	Orientation rotation matrix. Units: rad
struct Int32RMat	rmat_i	Orientation rotation matrix. Units: rad in BFP with INT32_TRIG_FRAC
uint8_t	status	Holds the status bits for all orientation representations. When the corresponding bit is set, the representation is already computed.

Macro Definition Documentation

#define ORREP_EULER_F 4

zyx Euler (float)

Definition at line 73 of file pprz_orientation_conversion.h.

Referenced by orientationCalcEulers_f(), orientationCalcEulers_i(), orientationCalcQuat_f(), orientationCalcQuat_i(), orientationCalcRMat_f(), orientationCalcRMat_i(), orientationGetEulers_f(), and orientationSetEulers_f().

#define ORREP_EULER_I 1

zyx Euler (BFP int)

Definition at line 70 of file pprz_orientation_conversion.h.

Referenced by orientationCalcEulers_f(), orientationCalcEulers_i(), orientationCalcQuat_f(), orientationCalcQuat_i(), orientationCalcRMat_f(), orientationCalcRMat_i(), orientationGetEulers_i(), and orientationSetEulers_i().

#define ORREP_QUAT_F 3

Quaternion (float)

Definition at line 72 of file pprz_orientation_conversion.h.

Referenced by orientationCalcEulers_f(), orientationCalcEulers_i(), orientationCalcQuat_f(), orientationCalcQuat_i(), orientationCalcRMat_f(), orientationCalcRMat_i(), orientationGetQuat_f(), and orientationSetQuat_f().

#define ORREP_QUAT_I 0

Quaternion (BFP int)

Definition at line 69 of file pprz_orientation_conversion.h.

Referenced by orientationCalcEulers_f(), orientationCalcEulers_i(), orientationCalcQuat_f(), orientationCalcQuat_i(), orientationCalcRMat_f(), orientationCalcRMat_i(), orientationGetQuat_i(), orientationSetIdentity(), and orientationSetQuat_i().

#define ORREP_RMAT_F 5

Rotation Matrix (float)

Definition at line 74 of file pprz_orientation_conversion.h.

Referenced by orientationCalcEulers_f(), orientationCalcEulers_i(), orientationCalcQuat_f(), orientationCalcQuat_i(), orientationCalcRMat_f(), orientationCalcRMat_i(), orientationGetRMat_f(), and orientationSetRMat_f().

#define ORREP_RMAT_I 2

Rotation Matrix (BFP int)

Definition at line 71 of file pprz_orientation_conversion.h.

Referenced by orientationCalcEulers_f(), orientationCalcEulers_i(), orientationCalcQuat_f(), orientationCalcQuat_i(), orientationCalcRMat_f(), orientationCalcRMat_i(), orientationGetRMat_i(), and orientationSetRMat_i().

Function Documentation

static bool orienationCheckValid ( struct OrientationReps * orientation )

inlinestatic

Test if orientations are valid.

Definition at line 135 of file pprz_orientation_conversion.h.

References OrientationReps::status.

Referenced by stateIsAttitudeValid().

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void orientationCalcEulers_f ( struct OrientationReps * orientation )

Definition at line 173 of file pprz_orientation_conversion.c.

References OrientationReps::eulers_f, EULERS_FLOAT_OF_BFP, OrientationReps::eulers_i, float_eulers_of_quat(), float_eulers_of_rmat(), ORREP_EULER_F, ORREP_EULER_I, ORREP_QUAT_F, ORREP_QUAT_I, ORREP_RMAT_F, ORREP_RMAT_I, OrientationReps::quat_f, QUAT_FLOAT_OF_BFP, OrientationReps::quat_i, OrientationReps::rmat_f, RMAT_FLOAT_OF_BFP, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by orientationGetEulers_f().

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void orientationCalcEulers_i ( struct OrientationReps * orientation )

Definition at line 98 of file pprz_orientation_conversion.c.

References EULERS_BFP_OF_REAL, OrientationReps::eulers_f, OrientationReps::eulers_i, int32_eulers_of_quat(), int32_eulers_of_rmat(), ORREP_EULER_F, ORREP_EULER_I, ORREP_QUAT_F, ORREP_QUAT_I, ORREP_RMAT_F, ORREP_RMAT_I, QUAT_BFP_OF_REAL, OrientationReps::quat_f, OrientationReps::quat_i, RMAT_BFP_OF_REAL, OrientationReps::rmat_f, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by orientationGetEulers_i().

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void orientationCalcQuat_f ( struct OrientationReps * orientation )

Definition at line 123 of file pprz_orientation_conversion.c.

References OrientationReps::eulers_f, EULERS_FLOAT_OF_BFP, OrientationReps::eulers_i, float_quat_of_eulers(), float_quat_of_rmat(), ORREP_EULER_F, ORREP_EULER_I, ORREP_QUAT_F, ORREP_QUAT_I, ORREP_RMAT_F, ORREP_RMAT_I, OrientationReps::quat_f, QUAT_FLOAT_OF_BFP, OrientationReps::quat_i, OrientationReps::rmat_f, RMAT_FLOAT_OF_BFP, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by orientationGetQuat_f().

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void orientationCalcQuat_i ( struct OrientationReps * orientation )

Definition at line 48 of file pprz_orientation_conversion.c.

References EULERS_BFP_OF_REAL, OrientationReps::eulers_f, OrientationReps::eulers_i, int32_quat_of_eulers(), int32_quat_of_rmat(), ORREP_EULER_F, ORREP_EULER_I, ORREP_QUAT_F, ORREP_QUAT_I, ORREP_RMAT_F, ORREP_RMAT_I, QUAT_BFP_OF_REAL, OrientationReps::quat_f, OrientationReps::quat_i, RMAT_BFP_OF_REAL, OrientationReps::rmat_f, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by orientationGetQuat_i().

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void orientationCalcRMat_f ( struct OrientationReps * orientation )

Definition at line 148 of file pprz_orientation_conversion.c.

References OrientationReps::eulers_f, EULERS_FLOAT_OF_BFP, OrientationReps::eulers_i, float_rmat_of_eulers, float_rmat_of_quat(), ORREP_EULER_F, ORREP_EULER_I, ORREP_QUAT_F, ORREP_QUAT_I, ORREP_RMAT_F, ORREP_RMAT_I, OrientationReps::quat_f, QUAT_FLOAT_OF_BFP, OrientationReps::quat_i, OrientationReps::rmat_f, RMAT_FLOAT_OF_BFP, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by orientationGetRMat_f().

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void orientationCalcRMat_i ( struct OrientationReps * orientation )

Definition at line 73 of file pprz_orientation_conversion.c.

References EULERS_BFP_OF_REAL, OrientationReps::eulers_f, OrientationReps::eulers_i, int32_rmat_of_eulers, int32_rmat_of_quat(), ORREP_EULER_F, ORREP_EULER_I, ORREP_QUAT_F, ORREP_QUAT_I, ORREP_RMAT_F, ORREP_RMAT_I, QUAT_BFP_OF_REAL, OrientationReps::quat_f, OrientationReps::quat_i, RMAT_BFP_OF_REAL, OrientationReps::rmat_f, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by orientationGetRMat_i().

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static struct FloatEulers* orientationGetEulers_f ( struct OrientationReps * orientation )

static

Get vehicle body attitude euler angles (float).

Definition at line 243 of file pprz_orientation_conversion.h.

References OrientationReps::eulers_f, orientationCalcEulers_f(), ORREP_EULER_F, and OrientationReps::status.

Referenced by ahrs_dcm_set_body_to_imu_quat(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), imu_SetBodyToImuTheta(), and stateGetNedToBodyEulers_f().

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static struct Int32Eulers* orientationGetEulers_i ( struct OrientationReps * orientation )

static

Get vehicle body attitude euler angles (int).

Definition at line 216 of file pprz_orientation_conversion.h.

References OrientationReps::eulers_i, orientationCalcEulers_i(), ORREP_EULER_I, and OrientationReps::status.

Referenced by ahrs_ice_set_body_to_imu_quat(), send_euler_int(), and stateGetNedToBodyEulers_i().

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static struct FloatQuat* orientationGetQuat_f ( struct OrientationReps * orientation )

static

Get vehicle body attitude quaternion (float).

Definition at line 225 of file pprz_orientation_conversion.h.

References orientationCalcQuat_f(), ORREP_QUAT_F, OrientationReps::quat_f, and OrientationReps::status.

Referenced by ahrs_dcm_set_body_to_imu(), ahrs_fc_realign_heading(), ahrs_fc_recompute_ltp_to_body(), ahrs_fc_set_body_to_imu(), ahrs_fc_set_body_to_imu_quat(), ahrs_gx3_init(), ahrs_ice_set_body_to_imu(), ahrs_icq_set_body_to_imu(), ahrs_mlkf_set_body_to_imu(), ahrs_mlkf_set_body_to_imu_quat(), compute_body_orientation_and_rates(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), imu_SetBodyToImuTheta(), init_ap(), main_init(), send_att(), set_body_state_from_quat(), and stateGetNedToBodyQuat_f().

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static struct Int32Quat* orientationGetQuat_i ( struct OrientationReps * orientation )

static

Get vehicle body attitude quaternion (int).

Definition at line 198 of file pprz_orientation_conversion.h.

References orientationCalcQuat_i(), ORREP_QUAT_I, OrientationReps::quat_i, and OrientationReps::status.

Referenced by ahrs_icq_realign_heading(), ahrs_icq_set_body_to_imu_quat(), ahrs_icq_update_heading(), set_body_state_from_quat(), and stateGetNedToBodyQuat_i().

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static struct FloatRMat* orientationGetRMat_f ( struct OrientationReps * orientation )

static

Get vehicle body attitude rotation matrix (float).

Definition at line 234 of file pprz_orientation_conversion.h.

References orientationCalcRMat_f(), ORREP_RMAT_F, OrientationReps::rmat_f, and OrientationReps::status.

Referenced by ahrs_dcm_init(), ahrs_fc_set_body_to_imu_quat(), ahrs_fc_update_accel(), ahrs_fc_update_heading(), ahrs_float_invariant_propagate(), ahrs_float_invariant_update_mag(), ahrs_vectornav_propagate(), compute_body_orientation_and_rates(), gx3_packet_read_message(), ins_float_invariant_propagate(), ins_float_invariant_update_mag(), ins_vectornav_propagate(), Normalize(), set_body_orientation_and_rates(), set_body_state_from_quat(), and stateGetNedToBodyRMat_f().

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static struct Int32RMat* orientationGetRMat_i ( struct OrientationReps * orientation )

static

Get vehicle body attitude rotation matrix (int).

Definition at line 207 of file pprz_orientation_conversion.h.

References orientationCalcRMat_i(), ORREP_RMAT_I, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by accel_cb(), ahrs_icq_update_accel(), b2_hff_propagate(), imu_bebop_event(), ins_int_propagate(), ins_module_propagate(), mag_pitot_parse_msg(), set_body_state_from_euler(), set_body_state_from_quat(), and stateGetNedToBodyRMat_i().

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static void orientationSetEulers_f	(	struct OrientationReps *	orientation,
		struct FloatEulers *	eulers
	)

inlinestatic

Set vehicle body attitude from euler angles (float).

Definition at line 189 of file pprz_orientation_conversion.h.

References EULERS_COPY, OrientationReps::eulers_f, ORREP_EULER_F, and OrientationReps::status.

Referenced by imu_bebop_init(), imu_init(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), imu_SetBodyToImuTheta(), ins_vectornav_init(), mag_pitot_init(), and stateSetNedToBodyEulers_f().

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static void orientationSetEulers_i	(	struct OrientationReps *	orientation,
		struct Int32Eulers *	eulers
	)

inlinestatic

Set vehicle body attitude from euler angles (int).

Definition at line 165 of file pprz_orientation_conversion.h.

References EULERS_COPY, OrientationReps::eulers_i, ORREP_EULER_I, and OrientationReps::status.

Referenced by ins_alt_float_init(), and stateSetNedToBodyEulers_i().

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static void orientationSetIdentity ( struct OrientationReps * orientation )

inlinestatic

Set to identity orientation.

Definition at line 141 of file pprz_orientation_conversion.h.

References int32_quat_identity(), ORREP_QUAT_I, OrientationReps::quat_i, and OrientationReps::status.

Referenced by ahrs_fc_init().

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static void orientationSetQuat_f	(	struct OrientationReps *	orientation,
		struct FloatQuat *	quat
	)

inlinestatic

Set vehicle body attitude from quaternion (float).

Definition at line 173 of file pprz_orientation_conversion.h.

References ORREP_QUAT_F, QUAT_COPY, OrientationReps::quat_f, and OrientationReps::status.

Referenced by ahrs_dcm_set_body_to_imu_quat(), ahrs_fc_recompute_ltp_to_body(), ahrs_fc_set_body_to_imu_quat(), ahrs_float_inv_set_body_to_imu_quat(), ahrs_ice_set_body_to_imu_quat(), ahrs_icq_set_body_to_imu_quat(), ahrs_mlkf_set_body_to_imu_quat(), body_to_imu_cb(), ins_float_inv_set_body_to_imu_quat(), and stateSetNedToBodyQuat_f().

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static void orientationSetQuat_i	(	struct OrientationReps *	orientation,
		struct Int32Quat *	quat
	)

inlinestatic

Set vehicle body attitude from quaternion (int).

Definition at line 149 of file pprz_orientation_conversion.h.

References ORREP_QUAT_I, QUAT_COPY, OrientationReps::quat_i, and OrientationReps::status.

Referenced by stateSetNedToBodyQuat_i().

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static void orientationSetRMat_f	(	struct OrientationReps *	orientation,
		struct FloatRMat *	rmat
	)

inlinestatic

Set vehicle body attitude from rotation matrix (float).

Definition at line 181 of file pprz_orientation_conversion.h.

References ORREP_RMAT_F, RMAT_COPY, OrientationReps::rmat_f, and OrientationReps::status.

Referenced by stateSetNedToBodyRMat_f().

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static void orientationSetRMat_i	(	struct OrientationReps *	orientation,
		struct Int32RMat *	rmat
	)

inlinestatic

Set vehicle body attitude from rotation matrix (int).

Definition at line 157 of file pprz_orientation_conversion.h.

References ORREP_RMAT_I, RMAT_COPY, OrientationReps::rmat_i, and OrientationReps::status.

Referenced by stateSetNedToBodyRMat_i().

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Data Structures

Macros

Functions

Detailed Description

Data Structure Documentation

Macro Definition Documentation

Function Documentation