pprz_algebra_double.h File Reference

Paparazzi double precision floating point algebra. More...

#include "pprz_algebra.h"
#include "pprz_algebra_float.h"

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Data Structures
struct	DoubleVect2
struct	DoubleVect3
struct	DoubleQuat
	Roation quaternion. More...
struct	DoubleMat33
struct	DoubleRMat
	rotation matrix More...
struct	DoubleEulers
	euler angles More...
struct	DoubleRates
	angular rates More...

Macros
#define	DOUBLE_VECT3_ROUND(_v)   DOUBLE_VECT3_RINT(_v, _v)
#define	DOUBLE_VECT3_RINT(_vout, _vin)
#define	DOUBLE_RMAT_OF_EULERS(_rm, _e)   WARNING("DOUBLE_RMAT_OF_EULERS macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))
#define	DOUBLE_RMAT_OF_EULERS_321(_rm, _e)   WARNING("DOUBLE_RMAT_OF_EULERS_321 macro is deprecated, use the lower case function instead") double_rmat_of_eulers(&(_rm), &(_e))
#define	DOUBLE_QUAT_OF_EULERS(_q, _e)   WARNING("DOUBLE_QUAT_OF_EULERS macro is deprecated, use the lower case function instead") double_quat_of_eulers(&(_q), &(_e))
#define	DOUBLE_EULERS_OF_QUAT(_e, _q)   WARNING("DOUBLE_EULERS_OF_QUAT macro is deprecated, use the lower case function instead") double_eulers_of_quat(&(_e), &(_q))
#define	DOUBLE_QUAT_VMULT(v_out, q, v_in)   WARNING("DOUBLE_QUAT_VMULT macro is deprecated, use the lower case function instead") double_quat_vmult(&(v_out), &(q), &(v_in))

Functions
static double	double_vect3_norm (struct DoubleVect3 *v)
static void	double_vect3_normalize (struct DoubleVect3 *v)
	normalize 3D vector in place
static void	double_quat_identity (struct DoubleQuat *q)
	initialises a quaternion to identity
static double	double_quat_norm (struct DoubleQuat *q)
static void	double_quat_normalize (struct DoubleQuat *q)
void	double_rmat_of_eulers_321 (struct DoubleRMat *rm, struct DoubleEulers *e)
	Rotation matrix from 321 Euler angles (double).
void	double_quat_of_eulers (struct DoubleQuat *q, struct DoubleEulers *e)
void	double_eulers_of_quat (struct DoubleEulers *e, struct DoubleQuat *q)
void	double_quat_vmult (struct DoubleVect3 *v_out, struct DoubleQuat *q, struct DoubleVect3 *v_in)
void	double_quat_comp (struct DoubleQuat *a2c, struct DoubleQuat *a2b, struct DoubleQuat *b2c)
	Composition (multiplication) of two quaternions.
static void	double_rmat_identity (struct DoubleRMat *rm)
	initialises a rotation matrix to identity
void	double_rmat_inv (struct DoubleRMat *m_b2a, struct DoubleRMat *m_a2b)
	Inverse/transpose of a rotation matrix.
void	double_rmat_comp (struct DoubleRMat *m_a2c, struct DoubleRMat *m_a2b, struct DoubleRMat *m_b2c)
	Composition (multiplication) of two rotation matrices.
void	double_rmat_vmult (struct DoubleVect3 *vb, struct DoubleRMat *m_a2b, struct DoubleVect3 *va)
	rotate 3D vector by rotation matrix.
void	double_rmat_transp_vmult (struct DoubleVect3 *vb, struct DoubleRMat *m_b2a, struct DoubleVect3 *va)
	rotate 3D vector by transposed rotation matrix.
void	double_rmat_of_quat (struct DoubleRMat *rm, struct DoubleQuat *q)
static void	double_rmat_of_eulers (struct DoubleRMat *rm, struct DoubleEulers *e)

Detailed Description

Paparazzi double precision floating point algebra.

Definition in file pprz_algebra_double.h.