attitude_utils.c File Reference

#include "attitude/attitude_utils.h"
#include <math.h>

Go to the source code of this file.

Functions
double	deg2rad (double degrees)
	Convert degrees to radians.
double	rad2deg (double radians)
	Convert radians to degrees.
double	wrap_angle (double angle)
	Wrap an angle to the \((-\pi, \pi]\) interval.

Function Documentation

deg2rad()

double deg2rad

(

double

degrees

)

Convert degrees to radians.

Parameters

degrees

Angle in degrees.

Returns

Angle in radians.

Definition at line 4 of file attitude_utils.c.

                               {
    return degrees * ATTITUDE_PI / 180.0;
}

rad2deg()

double rad2deg

(

double

radians

)

Convert radians to degrees.

Parameters

radians

Angle in radians.

Returns

Angle in degrees.

Definition at line 8 of file attitude_utils.c.

                               {
    return radians * 180.0 / ATTITUDE_PI;
}

wrap_angle()

double wrap_angle

(

double

angle

)

Wrap an angle to the \((-\pi, \pi]\) interval.

Parameters

angle

Angle in radians.

Returns

Wrapped angle.

Definition at line 12 of file attitude_utils.c.

                                {
    // Wrap angle to [-pi, pi)
    while (angle >= ATTITUDE_PI) angle -= 2.0*ATTITUDE_PI;
    while (angle < -ATTITUDE_PI) angle += 2.0*ATTITUDE_PI;
    return angle;
}