state.h File Reference

API to get/set the generic vehicle states. More...

#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_int.h"
#include "math/pprz_geodetic_float.h"
#include "math/pprz_orientation_conversion.h"
#include "std.h"
#include <string.h>

Include dependency graph for state.h:

Go to the source code of this file.

Data Structures
struct	State
	Structure holding vehicle state data. More...

Macros
#define	POS_ECEF_I   0
#define	POS_NED_I   1
#define	POS_ENU_I   2
#define	POS_LLA_I   3
#define	POS_UTM_I   4
#define	POS_ECEF_F   5
#define	POS_NED_F   6
#define	POS_ENU_F   7
#define	POS_LLA_F   8
#define	POS_UTM_F   9
#define	POS_LOCAL_COORD   ((1<<POS_NED_I)|(1<<POS_NED_F)|(1<<POS_ENU_I)|(1<<POS_ENU_F))
#define	POS_GLOBAL_COORD   ((1<<POS_ECEF_I)|(1<<POS_ECEF_F)|(1<<POS_LLA_I)|(1<<POS_LLA_F)|(1<<POS_UTM_I)|(1<<POS_UTM_F))
#define	SPEED_ECEF_I   0
#define	SPEED_NED_I   1
#define	SPEED_ENU_I   2
#define	SPEED_HNORM_I   3
#define	SPEED_HDIR_I   4
#define	SPEED_ECEF_F   5
#define	SPEED_NED_F   6
#define	SPEED_ENU_F   7
#define	SPEED_HNORM_F   8
#define	SPEED_HDIR_F   9
#define	SPEED_LOCAL_COORD   ((1<<SPEED_NED_I)|(1<<SPEED_ENU_I)|(1<<SPEED_NED_F)|(1<<SPEED_ENU_F))
#define	ACCEL_ECEF_I   0
#define	ACCEL_NED_I   1
#define	ACCEL_ECEF_F   2
#define	ACCEL_NED_F   3
#define	RATE_I   0
#define	RATE_F   1
#define	WINDSPEED_I   0
#define	AIRSPEED_I   1
#define	WINDSPEED_F   2
#define	AIRSPEED_F   3
#define	AOA_F   4
#define	SIDESLIP_F   5

Functions
void	stateInit (void)
static void	stateSetLocalOrigin_i (struct LtpDef_i *ltp_def)
	Set the local (flat earth) coordinate frame origin (int). More...
static void	stateSetLocalUtmOrigin_f (struct UtmCoor_f *utm_def)
	Set the local (flat earth) coordinate frame origin from UTM (float). More...
void	stateCalcPositionEcef_i (void)
void	stateCalcPositionNed_i (void)
void	stateCalcPositionEnu_i (void)
void	stateCalcPositionLla_i (void)
	Calculate LLA (int) from any other available representation. More...
void	stateCalcPositionUtm_f (void)
void	stateCalcPositionEcef_f (void)
void	stateCalcPositionNed_f (void)
void	stateCalcPositionEnu_f (void)
void	stateCalcPositionLla_f (void)
static bool_t	stateIsLocalCoordinateValid (void)
	Test if local coordinates are valid. More...
static bool_t	stateIsGlobalCoordinateValid (void)
	Test if global coordinates are valid. More...
static void	stateSetPositionEcef_i (struct EcefCoor_i *ecef_pos)
	Set position from ECEF coordinates (int). More...
static void	stateSetPositionNed_i (struct NedCoor_i *ned_pos)
	Set position from local NED coordinates (int). More...
static void	stateSetPositionEnu_i (struct EnuCoor_i *enu_pos)
	Set position from local ENU coordinates (int). More...
static void	stateSetPositionLla_i (struct LlaCoor_i *lla_pos)
	Set position from LLA coordinates (int). More...
static void	stateSetPosition_i (struct EcefCoor_i *ecef_pos, struct NedCoor_i *ned_pos, struct EnuCoor_i *enu_pos, struct LlaCoor_i *lla_pos)
	Set multiple position coordinates (int). More...
static void	stateSetPositionUtm_f (struct UtmCoor_f *utm_pos)
	Set position from UTM coordinates (float). More...
static void	stateSetPositionEcef_f (struct EcefCoor_f *ecef_pos)
	Set position from ECEF coordinates (float). More...
static void	stateSetPositionNed_f (struct NedCoor_f *ned_pos)
	Set position from local NED coordinates (float). More...
static void	stateSetPositionEnu_f (struct EnuCoor_f *enu_pos)
	Set position from local ENU coordinates (float). More...
static void	stateSetPositionLla_f (struct LlaCoor_f *lla_pos)
	Set position from LLA coordinates (float). More...
static void	stateSetPosition_f (struct EcefCoor_f *ecef_pos, struct NedCoor_f *ned_pos, struct EnuCoor_f *enu_pos, struct LlaCoor_f *lla_pos, struct UtmCoor_f *utm_pos)
	Set multiple position coordinates (float). More...
static struct EcefCoor_i *	stateGetPositionEcef_i (void)
	Get position in ECEF coordinates (int). More...
static struct NedCoor_i *	stateGetPositionNed_i (void)
	Get position in local NED coordinates (int). More...
static struct EnuCoor_i *	stateGetPositionEnu_i (void)
	Get position in local ENU coordinates (int). More...
static struct LlaCoor_i *	stateGetPositionLla_i (void)
	Get position in LLA coordinates (int). More...
static struct UtmCoor_f *	stateGetPositionUtm_f (void)
	Get position in UTM coordinates (float). More...
static struct EcefCoor_f *	stateGetPositionEcef_f (void)
	Get position in ECEF coordinates (float). More...
static struct NedCoor_f *	stateGetPositionNed_f (void)
	Get position in local NED coordinates (float). More...
static struct EnuCoor_f *	stateGetPositionEnu_f (void)
	Get position in local ENU coordinates (float). More...
static struct LlaCoor_f *	stateGetPositionLla_f (void)
	Get position in LLA coordinates (float). More...
void	stateCalcSpeedNed_i (void)
void	stateCalcSpeedEnu_i (void)
void	stateCalcSpeedEcef_i (void)
void	stateCalcHorizontalSpeedNorm_i (void)
void	stateCalcHorizontalSpeedDir_i (void)
void	stateCalcSpeedNed_f (void)
void	stateCalcSpeedEnu_f (void)
void	stateCalcSpeedEcef_f (void)
void	stateCalcHorizontalSpeedNorm_f (void)
void	stateCalcHorizontalSpeedDir_f (void)
static void	stateSetSpeedNed_i (struct NedCoor_i *ned_speed)
	Set ground speed in local NED coordinates (int). More...
static void	stateSetSpeedEnu_i (struct EnuCoor_i *enu_speed)
	Set ground speed in local ENU coordinates (int). More...
static void	stateSetSpeedEcef_i (struct EcefCoor_i *ecef_speed)
	Set ground speed in ECEF coordinates (int). More...
static void	stateSetSpeed_i (struct EcefCoor_i *ecef_speed, struct NedCoor_i *ned_speed, struct EnuCoor_i *enu_speed)
	Set multiple speed coordinates (int). More...
static void	stateSetSpeedNed_f (struct NedCoor_f *ned_speed)
	Set ground speed in local NED coordinates (float). More...
static void	stateSetSpeedEnu_f (struct EnuCoor_f *enu_speed)
	Set ground speed in local ENU coordinates (float). More...
static void	stateSetSpeedEcef_f (struct EcefCoor_f *ecef_speed)
	Set ground speed in ECEF coordinates (float). More...
static void	stateSetSpeed_f (struct EcefCoor_f *ecef_speed, struct NedCoor_f *ned_speed, struct EnuCoor_f *enu_speed)
	Set multiple speed coordinates (float). More...
static struct NedCoor_i *	stateGetSpeedNed_i (void)
	Get ground speed in local NED coordinates (int). More...
static struct EnuCoor_i *	stateGetSpeedEnu_i (void)
	Get ground speed in local ENU coordinates (int). More...
static struct EcefCoor_i *	stateGetSpeedEcef_i (void)
	Get ground speed in ECEF coordinates (int). More...
static uint32_t	stateGetHorizontalSpeedNorm_i (void)
	Get norm of horizontal ground speed (int). More...
static int32_t	stateGetHorizontalSpeedDir_i (void)
	Get dir of horizontal ground speed (int). More...
static struct NedCoor_f *	stateGetSpeedNed_f (void)
	Get ground speed in local NED coordinates (float). More...
static struct EnuCoor_f *	stateGetSpeedEnu_f (void)
	Get ground speed in local ENU coordinates (float). More...
static struct EcefCoor_f *	stateGetSpeedEcef_f (void)
	Get ground speed in ECEF coordinates (float). More...
static float	stateGetHorizontalSpeedNorm_f (void)
	Get norm of horizontal ground speed (float). More...
static float	stateGetHorizontalSpeedDir_f (void)
	Get dir of horizontal ground speed (float). More...
void	stateCalcAccelNed_i (void)
void	stateCalcAccelEcef_i (void)
void	stateCalcAccelNed_f (void)
void	stateCalcAccelEcef_f (void)
static bool_t	stateIsAccelValid (void)
	Test if accelerations are valid. More...
static void	stateSetAccelNed_i (struct NedCoor_i *ned_accel)
	Set acceleration in NED coordinates (int). More...
static void	stateSetAccelEcef_i (struct EcefCoor_i *ecef_accel)
	Set acceleration in ECEF coordinates (int). More...
static void	stateSetAccelNed_f (struct NedCoor_f *ned_accel)
	Set acceleration in NED coordinates (float). More...
static void	stateSetAccelEcef_f (struct EcefCoor_f *ecef_accel)
	Set acceleration in ECEF coordinates (float). More...
static struct NedCoor_i *	stateGetAccelNed_i (void)
	Get acceleration in NED coordinates (int). More...
static struct EcefCoor_i *	stateGetAccelEcef_i (void)
	Get acceleration in ECEF coordinates (int). More...
static struct NedCoor_f *	stateGetAccelNed_f (void)
	Get acceleration in NED coordinates (float). More...
static struct EcefCoor_f *	stateGetAccelEcef_f (void)
	Get acceleration in ECEF coordinates (float). More...
static bool_t	stateIsAttitudeValid (void)
	Test if attitudes are valid. More...
static void	stateSetNedToBodyQuat_i (struct Int32Quat *ned_to_body_quat)
	Set vehicle body attitude from quaternion (int). More...
static void	stateSetNedToBodyRMat_i (struct Int32RMat *ned_to_body_rmat)
	Set vehicle body attitude from rotation matrix (int). More...
static void	stateSetNedToBodyEulers_i (struct Int32Eulers *ned_to_body_eulers)
	Set vehicle body attitude from euler angles (int). More...
static void	stateSetNedToBodyQuat_f (struct FloatQuat *ned_to_body_quat)
	Set vehicle body attitude from quaternion (float). More...
static void	stateSetNedToBodyRMat_f (struct FloatRMat *ned_to_body_rmat)
	Set vehicle body attitude from rotation matrix (float). More...
static void	stateSetNedToBodyEulers_f (struct FloatEulers *ned_to_body_eulers)
	Set vehicle body attitude from euler angles (float). More...
static struct Int32Quat *	stateGetNedToBodyQuat_i (void)
	Get vehicle body attitude quaternion (int). More...
static struct Int32RMat *	stateGetNedToBodyRMat_i (void)
	Get vehicle body attitude rotation matrix (int). More...
static struct Int32Eulers *	stateGetNedToBodyEulers_i (void)
	Get vehicle body attitude euler angles (int). More...
static struct FloatQuat *	stateGetNedToBodyQuat_f (void)
	Get vehicle body attitude quaternion (float). More...
static struct FloatRMat *	stateGetNedToBodyRMat_f (void)
	Get vehicle body attitude rotation matrix (float). More...
static struct FloatEulers *	stateGetNedToBodyEulers_f (void)
	Get vehicle body attitude euler angles (float). More...
void	stateCalcBodyRates_i (void)
void	stateCalcBodyRates_f (void)
static bool_t	stateIsRateValid (void)
	Test if rates are valid. More...
static void	stateSetBodyRates_i (struct Int32Rates *body_rate)
	Set vehicle body angular rate (int). More...
static void	stateSetBodyRates_f (struct FloatRates *body_rate)
	Set vehicle body angular rate (float). More...
static struct Int32Rates *	stateGetBodyRates_i (void)
	Get vehicle body angular rate (int). More...
static struct FloatRates *	stateGetBodyRates_f (void)
	Get vehicle body angular rate (float). More...
void	stateCalcHorizontalWindspeed_i (void)
void	stateCalcAirspeed_i (void)
void	stateCalcHorizontalWindspeed_f (void)
void	stateCalcAirspeed_f (void)
static bool_t	stateIsWindspeedValid (void)
	test if wind speed is available. More...
static bool_t	stateIsAirspeedValid (void)
	test if air speed is available. More...
static bool_t	stateIsAngleOfAttackValid (void)
	test if angle of attack is available. More...
static bool_t	stateIsSideslipValid (void)
	test if sideslip is available. More...
static void	stateSetHorizontalWindspeed_i (struct Int32Vect2 *h_windspeed)
	Set horizontal windspeed (int). More...
static void	stateSetAirspeed_i (int32_t airspeed)
	Set airspeed (int). More...
static void	stateSetHorizontalWindspeed_f (struct FloatVect2 *h_windspeed)
	Set horizontal windspeed (float). More...
static void	stateSetAirspeed_f (float airspeed)
	Set airspeed (float). More...
static void	stateSetAngleOfAttack_f (float aoa)
	Set angle of attack in radians (float). More...
static void	stateSetSideslip_f (float sideslip)
	Set sideslip angle in radians (float). More...
static struct Int32Vect2 *	stateGetHorizontalWindspeed_i (void)
	Get horizontal windspeed (int). More...
static int32_t	stateGetAirspeed_i (void)
	Get airspeed (int). More...
static struct FloatVect2 *	stateGetHorizontalWindspeed_f (void)
	Get horizontal windspeed (float). More...
static float	stateGetAirspeed_f (void)
	Get airspeed (float). More...
static float	stateGetAngleOfAttack_f (void)
	Get angle of attack (float). More...
static float	stateGetSideslip_f (void)
	Get sideslip (float). More...

Variables
struct State	state

Detailed Description

API to get/set the generic vehicle states.

Also see the State Interface page.

Author

Felix Ruess felix.nosp@m..rue.nosp@m.ss@gm.nosp@m.ail..nosp@m.com

Definition in file state.h.