Paparazzi generic algebra macros. More...

#include <float.h>
#include <string.h>
#include "std.h"
#include "math.h"

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Macros
#define	SQUARE(_a) ((_a)*(_a))

#define	VECT2_ASSIGN(_a, _x, _y)

#define	VECT2_COPY(_a, _b)

#define	VECT2_ADD(_a, _b)

#define	VECT2_SUB(_a, _b)

#define	VECT2_SUM(_c, _a, _b)

#define	VECT2_DIFF(_c, _a, _b)

#define	VECT2_SMUL(_vo, _vi, _s)

#define	VECT2_SDIV(_vo, _vi, _s)

#define	VECT2_STRIM(_v, _min, _max)

#define	VECT2_DOT_PRODUCT(_v1, _v2) ((_v1).x(_v2).x + (_v1).y(_v2).y)

#define	VECT2_NORM2(_v) ((_v).x(_v).x + (_v).y(_v).y)

#define	VECT3_ASSIGN(_a, _x, _y, _z)

#define	VECT3_ASSIGN_ABS(_a, _x, _y, _z)

#define	VECT3_COPY(_a, _b)

#define	VECT3_ADD(_a, _b)

#define	VECT3_SUB(_a, _b)

#define	VECT3_SUM(_c, _a, _b)

#define	VECT3_ADD_SCALED(_a, _b, _s)

#define	VECT3_SUM_SCALED(_c, _a, _b, _s)

#define	VECT3_DIFF(_c, _a, _b)

#define	VECT3_SMUL(_vo, _vi, _s)

#define	VECT3_SDIV(_vo, _vi, _s)

#define	VECT3_STRIM(_v, _min, _max)

#define	VECT3_EW_DIV(_vo, _va, _vb)

#define	VECT3_EW_MUL(_vo, _va, _vb)

#define	VECT3_BOUND_CUBE(_v, _min, _max)

#define	VECT3_BOUND_BOX(_v, _v_min, _v_max)

#define	VECT3_ABS(_vo, _vi)

#define	VECT3_CROSS_PRODUCT(_vo, _v1, _v2)

#define	VECT3_DOT_PRODUCT(_v1, _v2) ((_v1).x(_v2).x + (_v1).y(_v2).y + (_v1).z*(_v2).z)

#define	VECT3_NORM2(_v) ((_v).x(_v).x + (_v).y(_v).y + (_v).z*(_v).z)

#define	VECT3_RATES_CROSS_VECT3(_vo, _r1, _v2)

#define	EULERS_COPY(_a, _b)

#define	EULERS_ASSIGN(_e, _phi, _theta, _psi)

#define	EULERS_ADD(_a, _b)

#define	EULERS_SUB(_a, _b)

#define	EULERS_DIFF(_c, _a, _b)

#define	EULERS_SMUL(_eo, _ei, _s)

#define	EULERS_SDIV(_eo, _ei, _s)

#define	EULERS_BOUND_CUBE(_v, _min, _max)

#define	RATES_ASSIGN(_ra, _p, _q, _r)

#define	RATES_COPY(_a, _b)

#define	RATES_ADD(_a, _b)

#define	RATES_SUB(_a, _b)

#define	RATES_SUM(_c, _a, _b)

#define	RATES_SUM_SCALED(_c, _a, _b, _s)

#define	RATES_DIFF(_c, _a, _b)

#define	RATES_SMUL(_ro, _ri, _s)

#define	RATES_SDIV(_ro, _ri, _s)

#define	RATES_EWMULT_RSHIFT(c, a, b, _s)

#define	RATES_BOUND_CUBE(_v, _min, _max)

#define	RATES_BOUND_BOX(_v, _v_min, _v_max)

#define	RATES_BOUND_BOX_ABS(_v, _v_max)

#define	RATES_ADD_SCALED_VECT(_ro, _v, _s)

#define	MAT33_ELMT(_m, _row, _col) ((_m).m[(_row)*3+(_col)])

#define	MAT33_COPY(_mat1, _mat2)

#define	MAT33_MULT_SCALAR(_mat1, _scalar)

#define	MAT33_VECT3_MUL(_vout, _mat, _vin)

#define	MAT33_VECT3_TRANSP_MUL(_vout, _mat, _vin)

#define	MAT33_INV(_minv, _m)

#define	MAT33_ROW_VECT3_SMUL(_mat, _row, _vin, _s)

#define	VECT3_VECT3_TRANS_MUL(_mat, _v_a, _v_b)

#define	MAT33_MAT33_DIFF(_mat1, _mat2, _mat3)

#define	MAT33_MAT33_SUM(_mat1, _mat2, _mat3)

#define	MAT33_TRANS(_mat1, _mat2)

#define	QUAT_ASSIGN(_q, _i, _x, _y, _z)

#define	QUAT_DIFF(_qc, _qa, _qb)

#define	QUAT_COPY(_qo, _qi)

#define	QUAT_EXPLEMENTARY(b, a)

#define	QUAT_SMUL(_qo, _qi, _s)

#define	QUAT_ADD(_qo, _qi)

#define	QUAT_INVERT(_qo, _qi)

#define	QUAT_EXTRACT_Q(_vo, _qi)

#define	QUAT_SDIV(_qo, _qi, _s)

#define	QUAT_DOT_PRODUCT(_qa, _qb) ((_qa).qi * (_qb).qi + (_qa).qx * (_qb).qx + (_qa).qy * (_qb).qy + (_qa).qz * (_qb).qz)

#define	RMAT_ELMT(_rm, _row, _col) MAT33_ELMT(_rm, _row, _col)

#define	RMAT_TRACE(_rm) (RMAT_ELMT(_rm, 0, 0)+RMAT_ELMT(_rm, 1, 1)+RMAT_ELMT(_rm, 2, 2))

#define	RMAT_DIFF(_c, _a, _b)

#define	RMAT_VECT3_MUL(_vout, _rmat, _vin)

#define	RMAT_VECT3_TRANSP_MUL(_vout, _rmat, _vin)

#define	RMAT_COPY(_o, _i) { memcpy(&(_o), &(_i), sizeof(_o));}

#define	EULERS_FLOAT_OF_BFP(_ef, _ei)

#define	EULERS_BFP_OF_REAL(_ei, _ef)

#define	RMAT_BFP_OF_REAL(_ei, _ef)

#define	RMAT_FLOAT_OF_BFP(_ef, _ei)

#define	QUAT_FLOAT_OF_BFP(_qf, _qi)

#define	QUAT_BFP_OF_REAL(_qi, _qf)

#define	RATES_FLOAT_OF_BFP(_rf, _ri)

#define	RATES_BFP_OF_REAL(_ri, _rf)

#define	POSITIONS_FLOAT_OF_BFP(_ef, _ei)

#define	POSITIONS_BFP_OF_REAL(_ef, _ei)

#define	SPEEDS_FLOAT_OF_BFP(_ef, _ei)

#define	SPEEDS_BFP_OF_REAL(_ef, _ei)

#define	ACCELS_FLOAT_OF_BFP(_ef, _ei)

#define	ACCELS_BFP_OF_REAL(_ef, _ei)

#define	MAGS_FLOAT_OF_BFP(_ef, _ei)

#define	MAGS_BFP_OF_REAL(_ef, _ei)

Detailed Description

Paparazzi generic algebra macros.

Definition in file pprz_algebra.h.

Macros

Detailed Description