Mani Monajjemi
57 linhas
1.4 KiB
C
57 linhas
1.4 KiB
C
/**
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* \file quaternions.c
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* \brief Quaternions library used by Mykonos
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* \author Fran�ois Callou <francois.callou@parrot.com>
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* \version 1.0
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*/
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#ifndef _QUATERNIONS_H_
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#define _QUATERNIONS_H_
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#include <Maths/matrices.h>
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#include <VP_Os/vp_os_types.h>
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typedef struct _angles_t
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{
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float32_t phi;
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float32_t theta;
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float32_t psi;
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} angles_t;
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typedef struct _quaternion_t {
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float32_t a;
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vector31_t v;
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} quaternion_t;
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extern const quaternion_t quat_unitary;
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// TODO Documentation
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// Multiplies two quaternions q1 & q2. Stores result in out.
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void mul_quat( quaternion_t* out, quaternion_t* q1, quaternion_t* q2);
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// Adds two quaternions q1 & q2. Stores result in out.
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void add_quat( quaternion_t* out, quaternion_t* q1, quaternion_t* q2 );
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// Multiplies a quaternion ny a scalar
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void mulconst_quat( quaternion_t *out, quaternion_t *q, float32_t k );
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// Stores the conjugate quaternion in out
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void conjugate_quat( quaternion_t* out, quaternion_t* q );
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// Compuets the norm of a quaternion
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float32_t norm_quat( quaternion_t* q );
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//Normalises a quaternion
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bool_t normalize_quat( quaternion_t* q );
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//transformss a quaternion to the cprrsep�nding euler rotation matrix
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void quat_to_euler_rot_mat(matrix33_t* m, quaternion_t* q);
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//transformss a quaternion to the corrseponding euler angles
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void quat_to_euler_angles(angles_t* a, quaternion_t* q);
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void euler_angles_to_quat(angles_t* a, quaternion_t* q);
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#endif // _QUATERNIONS_H_
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