Collaboration diagram for Generic Algebra macros:

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

Macro Definition Documentation

◆ ACCELS_BFP_OF_REAL

#define ACCELS_BFP_OF_REAL	(	_ef,
		_ei
	)

Value:

    {      \
    (_ef).x = ACCEL_BFP_OF_REAL((_ei).x);   \
    (_ef).y = ACCEL_BFP_OF_REAL((_ei).y);   \
    (_ef).z = ACCEL_BFP_OF_REAL((_ei).z);   \
  }

Definition at line 801 of file pprz_algebra.h.

◆ ACCELS_FLOAT_OF_BFP

#define ACCELS_FLOAT_OF_BFP	(	_ef,
		_ei
	)

Value:

    {     \
    (_ef).x = ACCEL_FLOAT_OF_BFP((_ei).x);    \
    (_ef).y = ACCEL_FLOAT_OF_BFP((_ei).y);    \
    (_ef).z = ACCEL_FLOAT_OF_BFP((_ei).z);    \
  }

Definition at line 795 of file pprz_algebra.h.

◆ EULERS_ADD

#define EULERS_ADD	(	_a,
		_b
	)

Value:

    {        \
    (_a).phi   += (_b).phi;       \
    (_a).theta += (_b).theta;       \
    (_a).psi   += (_b).psi;       \
  }

Definition at line 281 of file pprz_algebra.h.

◆ EULERS_ASSIGN

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

Value:

    {   \
    (_e).phi   = (_phi);                            \
    (_e).theta = (_theta);                          \
    (_e).psi   = (_psi);                            \
  }

Definition at line 274 of file pprz_algebra.h.

◆ EULERS_BFP_OF_REAL

#define EULERS_BFP_OF_REAL	(	_ei,
		_ef
	)

Value:

    {      \
    (_ei).phi   = ANGLE_BFP_OF_REAL((_ef).phi);   \
    (_ei).theta = ANGLE_BFP_OF_REAL((_ef).theta); \
    (_ei).psi   = ANGLE_BFP_OF_REAL((_ef).psi);   \
  }

Definition at line 715 of file pprz_algebra.h.

◆ EULERS_BOUND_CUBE

#define EULERS_BOUND_CUBE	(	_v,
		_min,
		_max
	)

Value:

    {                  \
    (_v).phi   = (_v).phi   < (_min) ? (_min) : (_v).phi   > (_max) ? (_max) : (_v).phi; \
    (_v).theta = (_v).theta < (_min) ? (_min) : (_v).theta > (_max) ? (_max) : (_v).theta; \
    (_v).psi   = (_v).psi   < (_min) ? (_min) : (_v).psi   > (_max) ? (_max) : (_v).psi;   \
  }

Definition at line 317 of file pprz_algebra.h.

◆ EULERS_COPY

#define EULERS_COPY	(	_a,
		_b
	)

Value:

    {       \
    (_a).phi   = (_b).phi;        \
    (_a).theta = (_b).theta;        \
    (_a).psi   = (_b).psi;        \
  }

Definition at line 268 of file pprz_algebra.h.

◆ EULERS_DIFF

#define EULERS_DIFF	(	_c,
		_a,
		_b
	)

Value:

    {   \
    (_c).phi   = (_a).phi   - (_b).phi;   \
    (_c).theta = (_a).theta - (_b).theta; \
    (_c).psi   = (_a).psi   - (_b).psi;   \
  }

Definition at line 295 of file pprz_algebra.h.

◆ EULERS_FLOAT_OF_BFP

#define EULERS_FLOAT_OF_BFP	(	_ef,
		_ei
	)

Value:

    {     \
    (_ef).phi   = ANGLE_FLOAT_OF_BFP((_ei).phi);  \
    (_ef).theta = ANGLE_FLOAT_OF_BFP((_ei).theta);  \
    (_ef).psi   = ANGLE_FLOAT_OF_BFP((_ei).psi);  \
  }

Definition at line 709 of file pprz_algebra.h.

◆ EULERS_SDIV

#define EULERS_SDIV	(	_eo,
		_ei,
		_s
	)

Value:

    {       \
    (_eo).phi   =  (_ei).phi   / (_s);        \
    (_eo).theta =  (_ei).theta / (_s);        \
    (_eo).psi   =  (_ei).psi   / (_s);        \
  }

Definition at line 310 of file pprz_algebra.h.

◆ EULERS_SMUL

#define EULERS_SMUL	(	_eo,
		_ei,
		_s
	)

Value:

    {       \
    (_eo).phi   =  (_ei).phi   * (_s);        \
    (_eo).theta =  (_ei).theta * (_s);        \
    (_eo).psi   =  (_ei).psi   * (_s);        \
  }

Definition at line 303 of file pprz_algebra.h.

◆ EULERS_SUB

#define EULERS_SUB	(	_a,
		_b
	)

Value:

    {        \
    (_a).phi   -= (_b).phi;       \
    (_a).theta -= (_b).theta;       \
    (_a).psi   -= (_b).psi;       \
  }

Definition at line 288 of file pprz_algebra.h.

◆ MAGS_BFP_OF_REAL

#define MAGS_BFP_OF_REAL	(	_ef,
		_ei
	)

Value:

    {      \
    (_ef).x = MAG_BFP_OF_REAL((_ei).x);   \
    (_ef).y = MAG_BFP_OF_REAL((_ei).y);   \
    (_ef).z = MAG_BFP_OF_REAL((_ei).z);   \
  }

Definition at line 813 of file pprz_algebra.h.

◆ MAGS_FLOAT_OF_BFP

#define MAGS_FLOAT_OF_BFP	(	_ef,
		_ei
	)

Value:

    {     \
    (_ef).x = MAG_FLOAT_OF_BFP((_ei).x);    \
    (_ef).y = MAG_FLOAT_OF_BFP((_ei).y);    \
    (_ef).z = MAG_FLOAT_OF_BFP((_ei).z);    \
  }

Definition at line 807 of file pprz_algebra.h.

◆ MAT33_COPY

#define MAT33_COPY	(	_mat1,
		_mat2
	)

Value:

    {     \
    MAT33_ELMT((_mat1),0,0) = MAT33_ELMT((_mat2),0,0);  \
    MAT33_ELMT((_mat1),0,1) = MAT33_ELMT((_mat2),0,1);  \
    MAT33_ELMT((_mat1),0,2) = MAT33_ELMT((_mat2),0,2);  \
    MAT33_ELMT((_mat1),1,0) = MAT33_ELMT((_mat2),1,0);  \
    MAT33_ELMT((_mat1),1,1) = MAT33_ELMT((_mat2),1,1);  \
    MAT33_ELMT((_mat1),1,2) = MAT33_ELMT((_mat2),1,2);  \
    MAT33_ELMT((_mat1),2,0) = MAT33_ELMT((_mat2),2,0);  \
    MAT33_ELMT((_mat1),2,1) = MAT33_ELMT((_mat2),2,1);  \
    MAT33_ELMT((_mat1),2,2) = MAT33_ELMT((_mat2),2,2);  \
  }

Definition at line 438 of file pprz_algebra.h.

◆ MAT33_ELMT

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

Definition at line 436 of file pprz_algebra.h.

◆ MAT33_INV

#define MAT33_INV	(	_minv,
		_m
	)

Value:

    {            \
    const float m00 = MAT33_ELMT((_m),1,1)*MAT33_ELMT((_m),2,2) - MAT33_ELMT((_m),1,2)*MAT33_ELMT((_m),2,1);    \
    const float m10 = MAT33_ELMT((_m),0,1)*MAT33_ELMT((_m),2,2) - MAT33_ELMT((_m),0,2)*MAT33_ELMT((_m),2,1);    \
    const float m20 = MAT33_ELMT((_m),0,1)*MAT33_ELMT((_m),1,2) - MAT33_ELMT((_m),0,2)*MAT33_ELMT((_m),1,1);    \
    const float m01 = MAT33_ELMT((_m),1,0)*MAT33_ELMT((_m),2,2) - MAT33_ELMT((_m),1,2)*MAT33_ELMT((_m),2,0);    \
    const float m11 = MAT33_ELMT((_m),0,0)*MAT33_ELMT((_m),2,2) - MAT33_ELMT((_m),0,2)*MAT33_ELMT((_m),2,0);    \
    const float m21 = MAT33_ELMT((_m),0,0)*MAT33_ELMT((_m),1,2) - MAT33_ELMT((_m),0,2)*MAT33_ELMT((_m),1,0);    \
    const float m02 = MAT33_ELMT((_m),1,0)*MAT33_ELMT((_m),2,1) - MAT33_ELMT((_m),1,1)*MAT33_ELMT((_m),2,0);    \
    const float m12 = MAT33_ELMT((_m),0,0)*MAT33_ELMT((_m),2,1) - MAT33_ELMT((_m),0,1)*MAT33_ELMT((_m),2,0);    \
    const float m22 = MAT33_ELMT((_m),0,0)*MAT33_ELMT((_m),1,1) - MAT33_ELMT((_m),0,1)*MAT33_ELMT((_m),1,0);    \
    const float det = MAT33_ELMT((_m),0,0)*m00 - MAT33_ELMT((_m),1,0)*m10 + MAT33_ELMT((_m),2,0)*m20; \
    if (fabs(det) > FLT_EPSILON) {          \
      MAT33_ELMT((_minv),0,0) =  m00 / det;           \
      MAT33_ELMT((_minv),1,0) = -m01 / det;           \
      MAT33_ELMT((_minv),2,0) =  m02 / det;           \
      MAT33_ELMT((_minv),0,1) = -m10 / det;           \
      MAT33_ELMT((_minv),1,1) =  m11 / det;           \
      MAT33_ELMT((_minv),2,1) = -m12 / det;           \
      MAT33_ELMT((_minv),0,2) =  m20 / det;           \
      MAT33_ELMT((_minv),1,2) = -m21 / det;           \
      MAT33_ELMT((_minv),2,2) =  m22 / det;           \
    }                 \
  }

Definition at line 489 of file pprz_algebra.h.

◆ MAT33_MAT33_DIFF

#define MAT33_MAT33_DIFF	(	_mat1,
		_mat2,
		_mat3
	)

Value:

    {                                 \
    MAT33_ELMT((_mat1),0,0) = MAT33_ELMT((_mat2),0,0)-MAT33_ELMT((_mat3),0,0);  \
    MAT33_ELMT((_mat1),0,1) = MAT33_ELMT((_mat2),0,1)-MAT33_ELMT((_mat3),0,1);  \
    MAT33_ELMT((_mat1),0,2) = MAT33_ELMT((_mat2),0,2)-MAT33_ELMT((_mat3),0,2);  \
    MAT33_ELMT((_mat1),1,0) = MAT33_ELMT((_mat2),1,0)-MAT33_ELMT((_mat3),1,0);  \
    MAT33_ELMT((_mat1),1,1) = MAT33_ELMT((_mat2),1,1)-MAT33_ELMT((_mat3),1,1);  \
    MAT33_ELMT((_mat1),1,2) = MAT33_ELMT((_mat2),1,2)-MAT33_ELMT((_mat3),1,2);  \
    MAT33_ELMT((_mat1),2,0) = MAT33_ELMT((_mat2),2,0)-MAT33_ELMT((_mat3),2,0);  \
    MAT33_ELMT((_mat1),2,1) = MAT33_ELMT((_mat2),2,1)-MAT33_ELMT((_mat3),2,1);  \
    MAT33_ELMT((_mat1),2,2) = MAT33_ELMT((_mat2),2,2)-MAT33_ELMT((_mat3),2,2);  \
  }

Definition at line 534 of file pprz_algebra.h.

◆ MAT33_MAT33_SUM

#define MAT33_MAT33_SUM	(	_mat1,
		_mat2,
		_mat3
	)

Value:

    {                                  \
    MAT33_ELMT((_mat1),0,0) = MAT33_ELMT((_mat2),0,0)+MAT33_ELMT((_mat3),0,0);  \
    MAT33_ELMT((_mat1),0,1) = MAT33_ELMT((_mat2),0,1)+MAT33_ELMT((_mat3),0,1);  \
    MAT33_ELMT((_mat1),0,2) = MAT33_ELMT((_mat2),0,2)+MAT33_ELMT((_mat3),0,2);  \
    MAT33_ELMT((_mat1),1,0) = MAT33_ELMT((_mat2),1,0)+MAT33_ELMT((_mat3),1,0);  \
    MAT33_ELMT((_mat1),1,1) = MAT33_ELMT((_mat2),1,1)+MAT33_ELMT((_mat3),1,1);  \
    MAT33_ELMT((_mat1),1,2) = MAT33_ELMT((_mat2),1,2)+MAT33_ELMT((_mat3),1,2);  \
    MAT33_ELMT((_mat1),2,0) = MAT33_ELMT((_mat2),2,0)+MAT33_ELMT((_mat3),2,0);  \
    MAT33_ELMT((_mat1),2,1) = MAT33_ELMT((_mat2),2,1)+MAT33_ELMT((_mat3),2,1);  \
    MAT33_ELMT((_mat1),2,2) = MAT33_ELMT((_mat2),2,2)+MAT33_ELMT((_mat3),2,2);  \
  }

Definition at line 547 of file pprz_algebra.h.

◆ MAT33_MULT_SCALAR

#define MAT33_MULT_SCALAR	(	_mat1,
		_scalar
	)

Value:

    {     \
    MAT33_ELMT((_mat1),0,0) = MAT33_ELMT((_mat1),0,0)*_scalar;  \
    MAT33_ELMT((_mat1),0,1) = MAT33_ELMT((_mat1),0,1)*_scalar;  \
    MAT33_ELMT((_mat1),0,2) = MAT33_ELMT((_mat1),0,2)*_scalar;  \
    MAT33_ELMT((_mat1),1,0) = MAT33_ELMT((_mat1),1,0)*_scalar;  \
    MAT33_ELMT((_mat1),1,1) = MAT33_ELMT((_mat1),1,1)*_scalar;  \
    MAT33_ELMT((_mat1),1,2) = MAT33_ELMT((_mat1),1,2)*_scalar;  \
    MAT33_ELMT((_mat1),2,0) = MAT33_ELMT((_mat1),2,0)*_scalar;  \
    MAT33_ELMT((_mat1),2,1) = MAT33_ELMT((_mat1),2,1)*_scalar;  \
    MAT33_ELMT((_mat1),2,2) = MAT33_ELMT((_mat1),2,2)*_scalar;  \
  }

Definition at line 450 of file pprz_algebra.h.

◆ MAT33_ROW_VECT3_SMUL

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

Value:

    {         \
    MAT33_ELMT((_mat), _row, 0) = (_vin).x * (_s);           \
    MAT33_ELMT((_mat), _row, 1) = (_vin).y * (_s);           \
    MAT33_ELMT((_mat), _row, 2) = (_vin).z * (_s);           \
  }

Definition at line 514 of file pprz_algebra.h.

◆ MAT33_TRANS

#define MAT33_TRANS	(	_mat1,
		_mat2
	)

Value:

    {                      \
    MAT33_ELMT((_mat1),0,0) = MAT33_ELMT((_mat2),0,0);  \
    MAT33_ELMT((_mat1),0,1) = MAT33_ELMT((_mat2),1,0);  \
    MAT33_ELMT((_mat1),0,2) = MAT33_ELMT((_mat2),2,0);  \
    MAT33_ELMT((_mat1),1,0) = MAT33_ELMT((_mat2),0,1);  \
    MAT33_ELMT((_mat1),1,1) = MAT33_ELMT((_mat2),1,1);  \
    MAT33_ELMT((_mat1),1,2) = MAT33_ELMT((_mat2),2,1);  \
    MAT33_ELMT((_mat1),2,0) = MAT33_ELMT((_mat2),0,2);  \
    MAT33_ELMT((_mat1),2,1) = MAT33_ELMT((_mat2),1,2);  \
    MAT33_ELMT((_mat1),2,2) = MAT33_ELMT((_mat2),2,2);  \
  }

Definition at line 560 of file pprz_algebra.h.

◆ MAT33_VECT3_MUL

#define MAT33_VECT3_MUL	(	_vout,
		_mat,
		_vin
	)

Value:

    {    \
    (_vout).x = MAT33_ELMT((_mat), 0, 0) * (_vin).x + \
                MAT33_ELMT((_mat), 0, 1) * (_vin).y + \
                MAT33_ELMT((_mat), 0, 2) * (_vin).z;  \
    (_vout).y = MAT33_ELMT((_mat), 1, 0) * (_vin).x +   \
                MAT33_ELMT((_mat), 1, 1) * (_vin).y +   \
                MAT33_ELMT((_mat), 1, 2) * (_vin).z;  \
    (_vout).z = MAT33_ELMT((_mat), 2, 0) * (_vin).x + \
                MAT33_ELMT((_mat), 2, 1) * (_vin).y + \
                MAT33_ELMT((_mat), 2, 2) * (_vin).z;  \
  }

Definition at line 463 of file pprz_algebra.h.

◆ MAT33_VECT3_TRANSP_MUL

#define MAT33_VECT3_TRANSP_MUL	(	_vout,
		_mat,
		_vin
	)

Value:

    {     \
    (_vout).x = MAT33_ELMT((_mat), 0, 0) * (_vin).x + \
                MAT33_ELMT((_mat), 1, 0) * (_vin).y + \
                MAT33_ELMT((_mat), 2, 0) * (_vin).z;  \
    (_vout).y = MAT33_ELMT((_mat), 0, 1) * (_vin).x +   \
                MAT33_ELMT((_mat), 1, 1) * (_vin).y +   \
                MAT33_ELMT((_mat), 2, 1) * (_vin).z;  \
    (_vout).z = MAT33_ELMT((_mat), 0, 2) * (_vin).x +   \
                MAT33_ELMT((_mat), 1, 2) * (_vin).y + \
                MAT33_ELMT((_mat), 2, 2) * (_vin).z;  \
  }

Definition at line 476 of file pprz_algebra.h.

◆ POSITIONS_BFP_OF_REAL

#define POSITIONS_BFP_OF_REAL	(	_ef,
		_ei
	)

Value:

    { \
    (_ef).x = POS_BFP_OF_REAL((_ei).x);   \
    (_ef).y = POS_BFP_OF_REAL((_ei).y);   \
    (_ef).z = POS_BFP_OF_REAL((_ei).z);   \
  }

Definition at line 777 of file pprz_algebra.h.

◆ POSITIONS_FLOAT_OF_BFP

#define POSITIONS_FLOAT_OF_BFP	(	_ef,
		_ei
	)

Value:

    {      \
    (_ef).x = POS_FLOAT_OF_BFP((_ei).x);    \
    (_ef).y = POS_FLOAT_OF_BFP((_ei).y);    \
    (_ef).z = POS_FLOAT_OF_BFP((_ei).z);    \
  }

Definition at line 771 of file pprz_algebra.h.

◆ QUAT_ADD

#define QUAT_ADD	(	_qo,
		_qi
	)

Value:

    {        \
    (_qo).qi += (_qi).qi;       \
    (_qo).qx += (_qi).qx;       \
    (_qo).qy += (_qi).qy;       \
    (_qo).qz += (_qi).qz;       \
  }

Definition at line 619 of file pprz_algebra.h.

◆ QUAT_ASSIGN

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

Value:

    {   \
    (_q).qi = (_i);         \
    (_q).qx = (_x);         \
    (_q).qy = (_y);         \
    (_q).qz = (_z);         \
  }

Definition at line 580 of file pprz_algebra.h.

◆ QUAT_BFP_OF_REAL

#define QUAT_BFP_OF_REAL	(	_qi,
		_qf
	)

Value:

    {      \
    (_qi).qi = QUAT1_BFP_OF_REAL((_qf).qi);   \
    (_qi).qx = QUAT1_BFP_OF_REAL((_qf).qx);   \
    (_qi).qy = QUAT1_BFP_OF_REAL((_qf).qy);   \
    (_qi).qz = QUAT1_BFP_OF_REAL((_qf).qz);   \
  }

Definition at line 752 of file pprz_algebra.h.

◆ QUAT_COPY

#define QUAT_COPY	(	_qo,
		_qi
	)

Value:

    {     \
    (_qo).qi = (_qi).qi;        \
    (_qo).qx = (_qi).qx;        \
    (_qo).qy = (_qi).qy;        \
    (_qo).qz = (_qi).qz;        \
  }

Definition at line 596 of file pprz_algebra.h.

◆ QUAT_DIFF

#define QUAT_DIFF	(	_qc,
		_qa,
		_qb
	)

Value:

    {      \
    (_qc).qi = (_qa).qi - (_qb).qi;     \
    (_qc).qx = (_qa).qx - (_qb).qx;     \
    (_qc).qy = (_qa).qy - (_qb).qy;     \
    (_qc).qz = (_qa).qz - (_qb).qz;     \
  }

Definition at line 588 of file pprz_algebra.h.

◆ QUAT_DOT_PRODUCT

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

Definition at line 650 of file pprz_algebra.h.

◆ QUAT_EXPLEMENTARY

#define QUAT_EXPLEMENTARY	(	b,
		a
	)

Value:

    {    \
    (b).qi = -(a).qi;               \
    (b).qx = -(a).qx;               \
    (b).qy = -(a).qy;               \
    (b).qz = -(a).qz;               \
  }

Definition at line 603 of file pprz_algebra.h.

◆ QUAT_EXTRACT_Q

#define QUAT_EXTRACT_Q	(	_vo,
		_qi
	)

Value:

    {  \
    (_vo).x=(_qi).qx;                 \
    (_vo).y=(_qi).qy;                 \
    (_vo).z=(_qi).qz;                 \
  }

Definition at line 635 of file pprz_algebra.h.

◆ QUAT_FLOAT_OF_BFP

#define QUAT_FLOAT_OF_BFP	(	_qf,
		_qi
	)

Value:

    {     \
    (_qf).qi = QUAT1_FLOAT_OF_BFP((_qi).qi);    \
    (_qf).qx = QUAT1_FLOAT_OF_BFP((_qi).qx);    \
    (_qf).qy = QUAT1_FLOAT_OF_BFP((_qi).qy);    \
    (_qf).qz = QUAT1_FLOAT_OF_BFP((_qi).qz);    \
  }

Definition at line 745 of file pprz_algebra.h.

◆ QUAT_INVERT

#define QUAT_INVERT	(	_qo,
		_qi
	)

Value:

    {       \
    (_qo).qi =  (_qi).qi;       \
    (_qo).qx = -(_qi).qx;       \
    (_qo).qy = -(_qi).qy;       \
    (_qo).qz = -(_qi).qz;       \
  }

Definition at line 627 of file pprz_algebra.h.

◆ QUAT_SDIV

#define QUAT_SDIV	(	_qo,
		_qi,
		_s
	)

Value:

    { \
    (_qo).qi = (_qi).qi / (_s); \
    (_qo).qx = (_qi).qx / (_s); \
    (_qo).qy = (_qi).qy / (_s); \
    (_qo).qz = (_qi).qz / (_s); \
  }

Definition at line 642 of file pprz_algebra.h.

◆ QUAT_SMUL

#define QUAT_SMUL	(	_qo,
		_qi,
		_s
	)

Value:

    {     \
    (_qo).qi = (_qi).qi * (_s);       \
    (_qo).qx = (_qi).qx * (_s);       \
    (_qo).qy = (_qi).qy * (_s);       \
    (_qo).qz = (_qi).qz * (_s);       \
  }

Definition at line 611 of file pprz_algebra.h.

◆ RATES_ADD

#define RATES_ADD	(	_a,
		_b
	)

Value:

    {     \
    (_a).p += (_b).p;       \
    (_a).q += (_b).q;       \
    (_a).r += (_b).r;       \
  }

Definition at line 344 of file pprz_algebra.h.

◆ RATES_ADD_SCALED_VECT

#define RATES_ADD_SCALED_VECT	(	_ro,
		_v,
		_s
	)

Value:

    {    \
    (_ro).p += (_v).x * (_s);                   \
    (_ro).q += (_v).y * (_s);                   \
    (_ro).r += (_v).z * (_s);                   \
  }

Definition at line 419 of file pprz_algebra.h.

◆ RATES_ASSIGN

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

Value:

    {   \
    (_ra).p = (_p);       \
    (_ra).q = (_q);       \
    (_ra).r = (_r);       \
  }

Definition at line 330 of file pprz_algebra.h.

◆ RATES_BFP_OF_REAL

#define RATES_BFP_OF_REAL	(	_ri,
		_rf
	)

Value:

    {     \
    (_ri).p = RATE_BFP_OF_REAL((_rf).p);    \
    (_ri).q = RATE_BFP_OF_REAL((_rf).q);    \
    (_ri).r = RATE_BFP_OF_REAL((_rf).r);    \
  }

Definition at line 765 of file pprz_algebra.h.

◆ RATES_BOUND_BOX

#define RATES_BOUND_BOX	(	_v,
		_v_min,
		_v_max
	)

Value:

    {       \
    if ((_v).p > (_v_max).p) (_v).p = (_v_max).p; else if ((_v).p < (_v_min).p) (_v).p = (_v_min).p; \
    if ((_v).q > (_v_max).q) (_v).q = (_v_max).q; else if ((_v).q < (_v_min).q) (_v).q = (_v_min).q; \
    if ((_v).r > (_v_max).r) (_v).r = (_v_max).r; else if ((_v).r < (_v_min).r) (_v).r = (_v_min).r; \
  }

Definition at line 407 of file pprz_algebra.h.

◆ RATES_BOUND_BOX_ABS

#define RATES_BOUND_BOX_ABS	(	_v,
		_v_max
	)

Value:

    {       \
    if ((_v).p > (_v_max).p) (_v).p = (_v_max).p; else if ((_v).p < -(_v_max).p) (_v).p = -(_v_max).p; \
    if ((_v).q > (_v_max).q) (_v).q = (_v_max).q; else if ((_v).q < -(_v_max).q) (_v).q = -(_v_max).q; \
    if ((_v).r > (_v_max).r) (_v).r = (_v_max).r; else if ((_v).r < -(_v_max).r) (_v).r = -(_v_max).r; \
  }

Definition at line 413 of file pprz_algebra.h.

◆ RATES_BOUND_CUBE

#define RATES_BOUND_CUBE	(	_v,
		_min,
		_max
	)

Value:

    {        \
    (_v).p = (_v).p < (_min) ? (_min) : (_v).p > (_max) ? (_max) : (_v).p;  \
    (_v).q = (_v).q < (_min) ? (_min) : (_v).q > (_max) ? (_max) : (_v).q;  \
    (_v).r = (_v).r < (_min) ? (_min) : (_v).r > (_max) ? (_max) : (_v).r;  \
  }

Definition at line 401 of file pprz_algebra.h.

◆ RATES_COPY

#define RATES_COPY	(	_a,
		_b
	)

Value:

    {      \
    (_a).p = (_b).p;        \
    (_a).q = (_b).q;        \
    (_a).r = (_b).r;        \
  }

Definition at line 337 of file pprz_algebra.h.

◆ RATES_DIFF

#define RATES_DIFF	(	_c,
		_a,
		_b
	)

Value:

    {                \
    (_c).p = (_a).p - (_b).p;     \
    (_c).q = (_a).q - (_b).q;     \
    (_c).r = (_a).r - (_b).r;     \
  }

Definition at line 372 of file pprz_algebra.h.

◆ RATES_EWMULT_RSHIFT

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

Value:

    {  \
    (c).p = ((a).p * (b).p) >> (_s);    \
    (c).q = ((a).q * (b).q) >> (_s);    \
    (c).r = ((a).r * (b).r) >> (_s);    \
  }

Definition at line 393 of file pprz_algebra.h.

◆ RATES_FLOAT_OF_BFP

#define RATES_FLOAT_OF_BFP	(	_rf,
		_ri
	)

Value:

    {      \
    (_rf).p = RATE_FLOAT_OF_BFP((_ri).p);   \
    (_rf).q = RATE_FLOAT_OF_BFP((_ri).q);   \
    (_rf).r = RATE_FLOAT_OF_BFP((_ri).r);   \
  }

Definition at line 759 of file pprz_algebra.h.

◆ RATES_SDIV

#define RATES_SDIV	(	_ro,
		_ri,
		_s
	)

Value:

    {    \
    (_ro).p =  (_ri).p / (_s) ;     \
    (_ro).q =  (_ri).q / (_s);      \
    (_ro).r =  (_ri).r / (_s);      \
  }

Definition at line 386 of file pprz_algebra.h.

◆ RATES_SMUL

#define RATES_SMUL	(	_ro,
		_ri,
		_s
	)

Value:

    {    \
    (_ro).p =  (_ri).p * (_s);      \
    (_ro).q =  (_ri).q * (_s);      \
    (_ro).r =  (_ri).r * (_s);      \
  }

Definition at line 379 of file pprz_algebra.h.

◆ RATES_SUB

#define RATES_SUB	(	_a,
		_b
	)

Value:

    {     \
    (_a).p -= (_b).p;       \
    (_a).q -= (_b).q;       \
    (_a).r -= (_b).r;       \
  }

Definition at line 351 of file pprz_algebra.h.

◆ RATES_SUM

#define RATES_SUM	(	_c,
		_a,
		_b
	)

Value:

    {     \
    (_c).p = (_a).p + (_b).p;     \
    (_c).q = (_a).q + (_b).q;     \
    (_c).r = (_a).r + (_b).r;     \
  }

Definition at line 358 of file pprz_algebra.h.

◆ RATES_SUM_SCALED

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

Value:

    {    \
    (_c).p = (_a).p + (_s)*(_b).p;      \
    (_c).q = (_a).q + (_s)*(_b).q;      \
    (_c).r = (_a).r + (_s)*(_b).r;      \
  }

Definition at line 365 of file pprz_algebra.h.

◆ RMAT_BFP_OF_REAL

#define RMAT_BFP_OF_REAL	(	_ei,
		_ef
	)

Value:

    {      \
    (_ei).m[0] = TRIG_BFP_OF_REAL((_ef).m[0]);    \
    (_ei).m[1] = TRIG_BFP_OF_REAL((_ef).m[1]);    \
    (_ei).m[2] = TRIG_BFP_OF_REAL((_ef).m[2]);    \
    (_ei).m[3] = TRIG_BFP_OF_REAL((_ef).m[3]);    \
    (_ei).m[4] = TRIG_BFP_OF_REAL((_ef).m[4]);    \
    (_ei).m[5] = TRIG_BFP_OF_REAL((_ef).m[5]);    \
    (_ei).m[6] = TRIG_BFP_OF_REAL((_ef).m[6]);    \
    (_ei).m[7] = TRIG_BFP_OF_REAL((_ef).m[7]);    \
    (_ei).m[8] = TRIG_BFP_OF_REAL((_ef).m[8]);    \
  }

Definition at line 721 of file pprz_algebra.h.

◆ RMAT_COPY

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

Definition at line 704 of file pprz_algebra.h.

◆ RMAT_DIFF

#define RMAT_DIFF	(	_c,
		_a,
		_b
	)

Value:

    {        \
    (_c).m[0] = (_a).m[0] - (_b).m[0];       \
    (_c).m[1] = (_a).m[1] - (_b).m[1];       \
    (_c).m[2] = (_a).m[2] - (_b).m[2];       \
    (_c).m[3] = (_a).m[3] - (_b).m[3];       \
    (_c).m[4] = (_a).m[4] - (_b).m[4];       \
    (_c).m[5] = (_a).m[5] - (_b).m[5];       \
    (_c).m[6] = (_a).m[6] - (_b).m[6];       \
    (_c).m[7] = (_a).m[7] - (_b).m[7];       \
    (_c).m[8] = (_a).m[8] - (_b).m[8];       \
  }

Definition at line 666 of file pprz_algebra.h.

◆ RMAT_ELMT

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

Definition at line 660 of file pprz_algebra.h.

◆ RMAT_FLOAT_OF_BFP

#define RMAT_FLOAT_OF_BFP	(	_ef,
		_ei
	)

Value:

    {     \
    (_ef).m[0] = TRIG_FLOAT_OF_BFP((_ei).m[0]);   \
    (_ef).m[1] = TRIG_FLOAT_OF_BFP((_ei).m[1]);   \
    (_ef).m[2] = TRIG_FLOAT_OF_BFP((_ei).m[2]);   \
    (_ef).m[3] = TRIG_FLOAT_OF_BFP((_ei).m[3]);   \
    (_ef).m[4] = TRIG_FLOAT_OF_BFP((_ei).m[4]);   \
    (_ef).m[5] = TRIG_FLOAT_OF_BFP((_ei).m[5]);   \
    (_ef).m[6] = TRIG_FLOAT_OF_BFP((_ei).m[6]);   \
    (_ef).m[7] = TRIG_FLOAT_OF_BFP((_ei).m[7]);   \
    (_ef).m[8] = TRIG_FLOAT_OF_BFP((_ei).m[8]);   \
  }

Definition at line 733 of file pprz_algebra.h.

◆ RMAT_TRACE

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

Definition at line 663 of file pprz_algebra.h.

◆ RMAT_VECT3_MUL

#define RMAT_VECT3_MUL	(	_vout,
		_rmat,
		_vin
	)

Value:

    {     \
    (_vout).x = RMAT_ELMT((_rmat), 0, 0) * (_vin).x +  \
                RMAT_ELMT((_rmat), 0, 1) * (_vin).y +  \
                RMAT_ELMT((_rmat), 0, 2) * (_vin).z;   \
    (_vout).y = RMAT_ELMT((_rmat), 1, 0) * (_vin).x +    \
                RMAT_ELMT((_rmat), 1, 1) * (_vin).y +    \
                RMAT_ELMT((_rmat), 1, 2) * (_vin).z;   \
    (_vout).z = RMAT_ELMT((_rmat), 2, 0) * (_vin).x +  \
                RMAT_ELMT((_rmat), 2, 1) * (_vin).y +  \
                RMAT_ELMT((_rmat), 2, 2) * (_vin).z;   \
  }

Definition at line 679 of file pprz_algebra.h.

◆ RMAT_VECT3_TRANSP_MUL

#define RMAT_VECT3_TRANSP_MUL	(	_vout,
		_rmat,
		_vin
	)

Value:

    {     \
    (_vout).x = RMAT_ELMT((_rmat), 0, 0) * (_vin).x +  \
                RMAT_ELMT((_rmat), 1, 0) * (_vin).y +  \
                RMAT_ELMT((_rmat), 2, 0) * (_vin).z;   \
    (_vout).y = RMAT_ELMT((_rmat), 0, 1) * (_vin).x +    \
                RMAT_ELMT((_rmat), 1, 1) * (_vin).y +    \
                RMAT_ELMT((_rmat), 2, 1) * (_vin).z;   \
    (_vout).z = RMAT_ELMT((_rmat), 0, 2) * (_vin).x +  \
                RMAT_ELMT((_rmat), 1, 2) * (_vin).y +  \
                RMAT_ELMT((_rmat), 2, 2) * (_vin).z;   \
  }

Definition at line 691 of file pprz_algebra.h.

◆ SPEEDS_BFP_OF_REAL

#define SPEEDS_BFP_OF_REAL	(	_ef,
		_ei
	)

Value:

    {      \
    (_ef).x = SPEED_BFP_OF_REAL((_ei).x);   \
    (_ef).y = SPEED_BFP_OF_REAL((_ei).y);   \
    (_ef).z = SPEED_BFP_OF_REAL((_ei).z);   \
  }

Definition at line 789 of file pprz_algebra.h.

◆ SPEEDS_FLOAT_OF_BFP

#define SPEEDS_FLOAT_OF_BFP	(	_ef,
		_ei
	)

Value:

    {     \
    (_ef).x = SPEED_FLOAT_OF_BFP((_ei).x);    \
    (_ef).y = SPEED_FLOAT_OF_BFP((_ei).y);    \
    (_ef).z = SPEED_FLOAT_OF_BFP((_ei).z);    \
  }

Definition at line 783 of file pprz_algebra.h.

◆ SQUARE

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

Definition at line 48 of file pprz_algebra.h.

◆ VECT2_ADD

#define VECT2_ADD	(	_a,
		_b
	)

Value:

    {     \
    (_a).x += (_b).x;       \
    (_a).y += (_b).y;       \
  }

Definition at line 74 of file pprz_algebra.h.

◆ VECT2_ASSIGN

#define VECT2_ASSIGN	(	_a,
		_x,
		_y
	)

Value:

    {    \
    (_a).x = (_x);        \
    (_a).y = (_y);        \
  }

Definition at line 62 of file pprz_algebra.h.

◆ VECT2_COPY

#define VECT2_COPY	(	_a,
		_b
	)

Value:

    {      \
    (_a).x = (_b).x;        \
    (_a).y = (_b).y;        \
  }

Definition at line 68 of file pprz_algebra.h.

◆ VECT2_DIFF

#define VECT2_DIFF	(	_c,
		_a,
		_b
	)

Value:

    {                \
    (_c).x = (_a).x - (_b).x;     \
    (_c).y = (_a).y - (_b).y;     \
  }

Definition at line 92 of file pprz_algebra.h.

◆ VECT2_DOT_PRODUCT

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

Definition at line 116 of file pprz_algebra.h.

◆ VECT2_NORM2

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

Definition at line 118 of file pprz_algebra.h.

◆ VECT2_SDIV

#define VECT2_SDIV	(	_vo,
		_vi,
		_s
	)

Value:

    {    \
    (_vo).x =  (_vi).x / (_s);      \
    (_vo).y =  (_vi).y / (_s);      \
  }

Definition at line 104 of file pprz_algebra.h.

◆ VECT2_SMUL

#define VECT2_SMUL	(	_vo,
		_vi,
		_s
	)

Value:

    {    \
    (_vo).x =  (_vi).x * (_s);      \
    (_vo).y =  (_vi).y * (_s);      \
  }

Definition at line 98 of file pprz_algebra.h.

◆ VECT2_STRIM

#define VECT2_STRIM	(	_v,
		_min,
		_max
	)

Value:

    {         \
    (_v).x = (_v).x < _min ? _min : (_v).x > _max ? _max : (_v).x;  \
    (_v).y = (_v).y < _min ? _min : (_v).y > _max ? _max : (_v).y;  \
  }

Definition at line 110 of file pprz_algebra.h.

◆ VECT2_SUB

#define VECT2_SUB	(	_a,
		_b
	)

Value:

    {     \
    (_a).x -= (_b).x;       \
    (_a).y -= (_b).y;       \
  }

Definition at line 80 of file pprz_algebra.h.

◆ VECT2_SUM

#define VECT2_SUM	(	_c,
		_a,
		_b
	)

Value:

    {     \
    (_c).x = (_a).x + (_b).x;     \
    (_c).y = (_a).y + (_b).y;     \
  }

Definition at line 86 of file pprz_algebra.h.

◆ VECT3_ABS

#define VECT3_ABS	(	_vo,
		_vi
	)

Value:

    { \
    (_vo).x = ABS((_vi).x);   \
    (_vo).y = ABS((_vi).y);   \
    (_vo).z = ABS((_vi).z);   \
  }

Definition at line 238 of file pprz_algebra.h.

◆ VECT3_ADD

#define VECT3_ADD	(	_a,
		_b
	)

Value:

    {     \
    (_a).x += (_b).x;       \
    (_a).y += (_b).y;       \
    (_a).z += (_b).z;       \
  }

Definition at line 147 of file pprz_algebra.h.

◆ VECT3_ADD_SCALED

#define VECT3_ADD_SCALED	(	_a,
		_b,
		_s
	)

Value:

    {      \
    (_a).x += ((_b).x * (_s));        \
    (_a).y += ((_b).y * (_s));        \
    (_a).z += ((_b).z * (_s));        \
  }

Definition at line 168 of file pprz_algebra.h.

◆ VECT3_ASSIGN

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

Value:

    {    \
    (_a).x = (_x);        \
    (_a).y = (_y);        \
    (_a).z = (_z);        \
  }

Definition at line 125 of file pprz_algebra.h.

◆ VECT3_ASSIGN_ABS

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

Value:

    {      \
    (_a).x = ABS(_x);                              \
    (_a).y = ABS(_y);                              \
    (_a).z = ABS(_z);                              \
  }

Definition at line 133 of file pprz_algebra.h.

◆ VECT3_BOUND_BOX

#define VECT3_BOUND_BOX	(	_v,
		_v_min,
		_v_max
	)

Value:

    {       \
    if ((_v).x > (_v_max).x) (_v).x = (_v_max).x; else if ((_v).x < (_v_min).x) (_v).x = (_v_min).x; \
    if ((_v).y > (_v_max).y) (_v).y = (_v_max).y; else if ((_v).y < (_v_min).y) (_v).y = (_v_min).y; \
    if ((_v).z > (_v_max).z) (_v).z = (_v_max).z; else if ((_v).z < (_v_min).z) (_v).z = (_v_min).z; \
  }

Definition at line 231 of file pprz_algebra.h.

◆ VECT3_BOUND_CUBE

#define VECT3_BOUND_CUBE	(	_v,
		_min,
		_max
	)

Value:

    {        \
    if ((_v).x > (_max)) (_v).x = (_max); else if ((_v).x < (_min)) (_v).x = (_min); \
    if ((_v).y > (_max)) (_v).y = (_max); else if ((_v).y < (_min)) (_v).y = (_min); \
    if ((_v).z > (_max)) (_v).z = (_max); else if ((_v).z < (_min)) (_v).z = (_min); \
  }

Definition at line 224 of file pprz_algebra.h.

◆ VECT3_COPY

#define VECT3_COPY	(	_a,
		_b
	)

Value:

    {        \
    (_a).x = (_b).x;        \
    (_a).y = (_b).y;        \
    (_a).z = (_b).z;        \
  }

Definition at line 140 of file pprz_algebra.h.

◆ VECT3_CROSS_PRODUCT

#define VECT3_CROSS_PRODUCT	(	_vo,
		_v1,
		_v2
	)

Value:

    {        \
    (_vo).x = (_v1).y*(_v2).z - (_v1).z*(_v2).y;    \
    (_vo).y = (_v1).z*(_v2).x - (_v1).x*(_v2).z;    \
    (_vo).z = (_v1).x*(_v2).y - (_v1).y*(_v2).x;    \
  }

Definition at line 244 of file pprz_algebra.h.

◆ VECT3_DIFF

#define VECT3_DIFF	(	_c,
		_a,
		_b
	)

Value:

    {                \
    (_c).x = (_a).x - (_b).x;     \
    (_c).y = (_a).y - (_b).y;     \
    (_c).z = (_a).z - (_b).z;     \
  }

Definition at line 182 of file pprz_algebra.h.

◆ VECT3_DOT_PRODUCT

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

Definition at line 250 of file pprz_algebra.h.

◆ VECT3_EW_DIV

#define VECT3_EW_DIV	(	_vo,
		_va,
		_vb
	)

Value:

    {       \
    (_vo).x =  (_va).x / (_vb).x;       \
    (_vo).y =  (_va).y / (_vb).y;       \
    (_vo).z =  (_va).z / (_vb).z;       \
  }

Definition at line 210 of file pprz_algebra.h.

◆ VECT3_EW_MUL

#define VECT3_EW_MUL	(	_vo,
		_va,
		_vb
	)

Value:

    {       \
    (_vo).x =  (_va).x * (_vb).x;       \
    (_vo).y =  (_va).y * (_vb).y;       \
    (_vo).z =  (_va).z * (_vb).z;       \
  }

Definition at line 217 of file pprz_algebra.h.

◆ VECT3_NORM2

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

Definition at line 252 of file pprz_algebra.h.

◆ VECT3_RATES_CROSS_VECT3

#define VECT3_RATES_CROSS_VECT3	(	_vo,
		_r1,
		_v2
	)

Value:

    {    \
    (_vo).x = (_r1).q*(_v2).z - (_r1).r*(_v2).y;    \
    (_vo).y = (_r1).r*(_v2).x - (_r1).p*(_v2).z;    \
    (_vo).z = (_r1).p*(_v2).y - (_r1).q*(_v2).x;    \
  }

Definition at line 254 of file pprz_algebra.h.

◆ VECT3_SDIV

#define VECT3_SDIV	(	_vo,
		_vi,
		_s
	)

Value:

    {      \
    (_vo).x =  (_vi).x / (_s);        \
    (_vo).y =  (_vi).y / (_s);        \
    (_vo).z =  (_vi).z / (_s);        \
  }

Definition at line 196 of file pprz_algebra.h.

◆ VECT3_SMUL

#define VECT3_SMUL	(	_vo,
		_vi,
		_s
	)

Value:

    {      \
    (_vo).x =  (_vi).x * (_s);        \
    (_vo).y =  (_vi).y * (_s);        \
    (_vo).z =  (_vi).z * (_s);        \
  }

Definition at line 189 of file pprz_algebra.h.

◆ VECT3_STRIM

#define VECT3_STRIM	(	_v,
		_min,
		_max
	)

Value:

    {         \
    (_v).x = (_v).x < _min ? _min : (_v).x > _max ? _max : (_v).x;  \
    (_v).y = (_v).y < _min ? _min : (_v).y > _max ? _max : (_v).y;  \
    (_v).z = (_v).z < _min ? _min : (_v).z > _max ? _max : (_v).z;  \
  }

Definition at line 203 of file pprz_algebra.h.

◆ VECT3_SUB

#define VECT3_SUB	(	_a,
		_b
	)

Value:

    {     \
    (_a).x -= (_b).x;       \
    (_a).y -= (_b).y;       \
    (_a).z -= (_b).z;       \
  }

Definition at line 154 of file pprz_algebra.h.

◆ VECT3_SUM

#define VECT3_SUM	(	_c,
		_a,
		_b
	)

Value:

    {                 \
    (_c).x = (_a).x + (_b).x;     \
    (_c).y = (_a).y + (_b).y;     \
    (_c).z = (_a).z + (_b).z;     \
  }

Definition at line 161 of file pprz_algebra.h.

◆ VECT3_SUM_SCALED

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

Value:

    {    \
    (_c).x = (_a).x + (_s)*(_b).x;      \
    (_c).y = (_a).y + (_s)*(_b).y;      \
    (_c).z = (_a).z + (_s)*(_b).z;      \
  }

Definition at line 175 of file pprz_algebra.h.

◆ VECT3_VECT3_TRANS_MUL

#define VECT3_VECT3_TRANS_MUL	(	_mat,
		_v_a,
		_v_b
	)

Value:

    { \
    MAT33_ELMT((_mat),0,0) = (_v_a).x*(_v_b).x;   \
    MAT33_ELMT((_mat),0,1) = (_v_a).x*(_v_b).y;   \
    MAT33_ELMT((_mat),0,2) = (_v_a).x*(_v_b).z;   \
    MAT33_ELMT((_mat),1,0) = (_v_a).y*(_v_b).x;   \
    MAT33_ELMT((_mat),1,1) = (_v_a).y*(_v_b).y;   \
    MAT33_ELMT((_mat),1,2) = (_v_a).y*(_v_b).z;   \
    MAT33_ELMT((_mat),2,0) = (_v_a).z*(_v_b).x;   \
    MAT33_ELMT((_mat),2,1) = (_v_a).z*(_v_b).y;   \
    MAT33_ELMT((_mat),2,2) = (_v_a).z*(_v_b).z;   \
  }

Definition at line 521 of file pprz_algebra.h.

Macros

Detailed Description

Macro Definition Documentation

◆ ACCELS_BFP_OF_REAL

◆ ACCELS_FLOAT_OF_BFP

◆ EULERS_ADD

◆ EULERS_ASSIGN

◆ EULERS_BFP_OF_REAL

◆ EULERS_BOUND_CUBE

◆ EULERS_COPY

◆ EULERS_DIFF

◆ EULERS_FLOAT_OF_BFP

◆ EULERS_SDIV

◆ EULERS_SMUL

◆ EULERS_SUB

◆ MAGS_BFP_OF_REAL

◆ MAGS_FLOAT_OF_BFP

◆ MAT33_COPY

◆ MAT33_ELMT

◆ MAT33_INV

◆ MAT33_MAT33_DIFF

◆ MAT33_MAT33_SUM

◆ MAT33_MULT_SCALAR

◆ MAT33_ROW_VECT3_SMUL

◆ MAT33_TRANS

◆ MAT33_VECT3_MUL

◆ MAT33_VECT3_TRANSP_MUL

◆ POSITIONS_BFP_OF_REAL

◆ POSITIONS_FLOAT_OF_BFP

◆ QUAT_ADD

◆ QUAT_ASSIGN

◆ QUAT_BFP_OF_REAL

◆ QUAT_COPY

◆ QUAT_DIFF

◆ QUAT_DOT_PRODUCT

◆ QUAT_EXPLEMENTARY

◆ QUAT_EXTRACT_Q

◆ QUAT_FLOAT_OF_BFP

◆ QUAT_INVERT

◆ QUAT_SDIV

◆ QUAT_SMUL

◆ RATES_ADD

◆ RATES_ADD_SCALED_VECT

◆ RATES_ASSIGN

◆ RATES_BFP_OF_REAL

◆ RATES_BOUND_BOX

◆ RATES_BOUND_BOX_ABS

◆ RATES_BOUND_CUBE

◆ RATES_COPY

◆ RATES_DIFF

◆ RATES_EWMULT_RSHIFT

◆ RATES_FLOAT_OF_BFP

◆ RATES_SDIV

◆ RATES_SMUL

◆ RATES_SUB

◆ RATES_SUM

◆ RATES_SUM_SCALED

◆ RMAT_BFP_OF_REAL

◆ RMAT_COPY

◆ RMAT_DIFF

◆ RMAT_ELMT

◆ RMAT_FLOAT_OF_BFP

◆ RMAT_TRACE

◆ RMAT_VECT3_MUL

◆ RMAT_VECT3_TRANSP_MUL

◆ SPEEDS_BFP_OF_REAL

◆ SPEEDS_FLOAT_OF_BFP

◆ SQUARE

◆ VECT2_ADD

◆ VECT2_ASSIGN

◆ VECT2_COPY

◆ VECT2_DIFF

◆ VECT2_DOT_PRODUCT

◆ VECT2_NORM2

◆ VECT2_SDIV

◆ VECT2_SMUL

◆ VECT2_STRIM

◆ VECT2_SUB

◆ VECT2_SUM

◆ VECT3_ABS