attitude_utils.h File Reference

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Macros
#define	ATTITUDE_PI   3.14159265358979323846264338327950288
	Macro helper converting degrees to radians.
#define	DEG2RAD(x)   ((x) * ATTITUDE_PI / 180.0)
#define	RAD2DEG(x)   ((x) * 180.0 / ATTITUDE_PI)
	Macro helper converting radians to degrees.

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.

Macro Definition Documentation

ATTITUDE_PI

#define ATTITUDE_PI   3.14159265358979323846264338327950288

Macro helper converting degrees to radians.

Definition at line 11 of file attitude_utils.h.

DEG2RAD

#define DEG2RAD

(

x

)

((x) * ATTITUDE_PI / 180.0)

Definition at line 12 of file attitude_utils.h.

RAD2DEG

#define RAD2DEG

(

x

)

((x) * 180.0 / ATTITUDE_PI)

Macro helper converting radians to degrees.

Definition at line 16 of file attitude_utils.h.

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;
}