Collaboration diagram for Double Algebra:

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) double_rmat_of_eulers(&(_rm), &(_e))

#define	DOUBLE_RMAT_OF_EULERS_321(_rm, _e) double_rmat_of_eulers(&(_rm), &(_e))

#define	DOUBLE_QUAT_OF_EULERS(_q, _e) double_quat_of_eulers(&(_q), &(_e))

#define	DOUBLE_EULERS_OF_QUAT(_e, _q) double_eulers_of_quat(&(_e), &(_q))

#define	DOUBLE_QUAT_VMULT(v_out, q, v_in) 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 More...

static void	double_quat_identity (struct DoubleQuat *q)
	initialises a quaternion to identity More...

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). More...

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)

static void	double_rmat_identity (struct DoubleRMat *rm)
	initialises a rotation matrix to identity More...

void	double_rmat_inv (struct DoubleRMat m_b2a, struct DoubleRMat m_a2b)
	Inverse/transpose of a rotation matrix. More...

void	double_rmat_comp (struct DoubleRMat m_a2c, struct DoubleRMat m_a2b, struct DoubleRMat *m_b2c)
	Composition (multiplication) of two rotation matrices. More...

void	double_rmat_vmult (struct DoubleVect3 vb, struct DoubleRMat m_a2b, struct DoubleVect3 *va)
	rotate 3D vector by rotation matrix. More...

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

Data Structure Documentation

struct DoubleVect2

Definition at line 41 of file pprz_algebra_double.h.

Data Fields
double	x
double	y

struct DoubleVect3

Definition at line 46 of file pprz_algebra_double.h.

Data Fields
double	x
double	y
double	z

struct DoubleQuat

Roation quaternion.

Definition at line 55 of file pprz_algebra_double.h.

Data Fields
double	qi
double	qx
double	qy
double	qz

struct DoubleMat33

Definition at line 62 of file pprz_algebra_double.h.

Data Fields
double	m[3 *3]

struct DoubleRMat

rotation matrix

Definition at line 69 of file pprz_algebra_double.h.

Data Fields
double	m[3 *3]

struct DoubleEulers

euler angles

Units: radians

Definition at line 76 of file pprz_algebra_double.h.

Data Fields
double	phi	in radians
double	psi	in radians
double	theta	in radians

struct DoubleRates

angular rates

Units: rad/s^2

Definition at line 85 of file pprz_algebra_double.h.

Data Fields
double	p	in rad/s^2
double	q	in rad/s^2
double	r	in rad/s^2

Macro Definition Documentation

#define DOUBLE_EULERS_OF_QUAT	(	_e,
		_q
	)	double_eulers_of_quat(&(_e), &(_q))

Definition at line 192 of file pprz_algebra_double.h.

#define DOUBLE_QUAT_OF_EULERS	(	_q,
		_e
	)	double_quat_of_eulers(&(_q), &(_e))

Definition at line 191 of file pprz_algebra_double.h.

#define DOUBLE_QUAT_VMULT	(	v_out,
		q,
		v_in
	)	double_quat_vmult(&(v_out), &(q), &(v_in))

Definition at line 193 of file pprz_algebra_double.h.

#define DOUBLE_RMAT_OF_EULERS	(	_rm,
		_e
	)	double_rmat_of_eulers(&(_rm), &(_e))

Definition at line 189 of file pprz_algebra_double.h.

#define DOUBLE_RMAT_OF_EULERS_321	(	_rm,
		_e
	)	double_rmat_of_eulers(&(_rm), &(_e))

Definition at line 190 of file pprz_algebra_double.h.

#define DOUBLE_VECT3_RINT	(	_vout,
		_vin
	)

Value:

{    \
    (_vout).x = rint((_vin).x);         \
    (_vout).y = rint((_vin).y);         \
    (_vout).z = rint((_vin).z);         \
  }

Definition at line 94 of file pprz_algebra_double.h.

#define DOUBLE_VECT3_ROUND ( _v ) DOUBLE_VECT3_RINT(_v, _v)

Definition at line 91 of file pprz_algebra_double.h.

Function Documentation

void double_eulers_of_quat	(	struct DoubleEulers *	e,
		struct DoubleQuat *	q
	)

Definition at line 68 of file pprz_algebra_double.c.

References DoubleEulers::phi, DoubleEulers::psi, DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and DoubleEulers::theta.

static void double_quat_identity ( struct DoubleQuat * q )

inlinestatic

initialises a quaternion to identity

Definition at line 118 of file pprz_algebra_double.h.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, and DoubleQuat::qz.

static double double_quat_norm ( struct DoubleQuat * q )

inlinestatic

Definition at line 126 of file pprz_algebra_double.h.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and SQUARE.

Referenced by double_quat_normalize().

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static void double_quat_normalize ( struct DoubleQuat * q )

inlinestatic

Definition at line 132 of file pprz_algebra_double.h.

References double_quat_norm(), DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, and DoubleQuat::qz.

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void double_quat_of_eulers	(	struct DoubleQuat *	q,
		struct DoubleEulers *	e
	)

Definition at line 49 of file pprz_algebra_double.c.

References DoubleEulers::phi, DoubleEulers::psi, DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, and DoubleEulers::theta.

void double_quat_vmult	(	struct DoubleVect3 *	v_out,
		struct DoubleQuat *	q,
		struct DoubleVect3 *	v_in
	)

Definition at line 90 of file pprz_algebra_double.c.

References DoubleQuat::qi, DoubleQuat::qx, DoubleQuat::qy, DoubleQuat::qz, DoubleVect3::x, DoubleVect3::y, and DoubleVect3::z.

void double_rmat_comp	(	struct DoubleRMat *	m_a2c,
		struct DoubleRMat *	m_a2b,
		struct DoubleRMat *	m_b2c
	)

Composition (multiplication) of two rotation matrices.

m_a2c = m_a2b comp m_b2c , aka m_a2c = m_b2c * m_a2b

Definition at line 130 of file pprz_algebra_double.c.

References DoubleRMat::m.

static void double_rmat_identity ( struct DoubleRMat * rm )

inlinestatic

initialises a rotation matrix to identity

Definition at line 161 of file pprz_algebra_double.h.

References FLOAT_MAT33_DIAG.

void double_rmat_inv	(	struct DoubleRMat *	m_b2a,
		struct DoubleRMat *	m_a2b
	)

Inverse/transpose of a rotation matrix.

m_b2a = inv(_m_a2b) = transp(_m_a2b)

Definition at line 114 of file pprz_algebra_double.c.

References RMAT_ELMT.

static void double_rmat_of_eulers	(	struct DoubleRMat *	rm,
		struct DoubleEulers *	e
	)

inlinestatic

Definition at line 183 of file pprz_algebra_double.h.

References double_rmat_of_eulers_321().

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void double_rmat_of_eulers_321	(	struct DoubleRMat *	rm,
		struct DoubleEulers *	e
	)

Rotation matrix from 321 Euler angles (double).

The Euler angles are interpreted as zy'x'' (intrinsic) rotation. First rotate around z with psi, then around the new y' with theta, then around new x'' with phi. This is the same as a xyz (extrinsic) rotation, rotating around the fixed x, then y then z axis.

psi range: -pi < psi <= pi
theta range: -pi/2 <= theta <= pi/2
phi range: -pi < phi <= pi
Parameters

[out] rm pointer to rotation matrix

[in] e pointer to Euler angles