attitudeMathLibrary/doxygen/euler_8h_source.html

#ifndef ATTITUDE_EULER_H

#define ATTITUDE_EULER_H


#ifdef __cplusplus

extern "C" {

#endif


typedef enum {

    EULER_ZYX,

    EULER_ZYZ,

    EULER_XYZ,

    // Extend with other orders as needed.

} EulerOrder;


typedef struct {

    double roll;

    double pitch;

    double yaw;

    EulerOrder order;

} EulerAngles;


void euler_to_dcm(const EulerAngles *e, double dcm[3][3]);


int euler_to_dcm_checked(const EulerAngles *e, double dcm[3][3]);


void euler_to_quaternion(const EulerAngles *e, double q[4]);


int euler_to_quaternion_checked(const EulerAngles *e, double q[4]);


#ifdef __cplusplus

}

#endif


#endif // ATTITUDE_EULER_H

euler_to_quaternion_checked
int euler_to_quaternion_checked(const EulerAngles *e, double q[4])
Checked Euler-to-quaternion conversion.
Definition euler.c:47

euler_to_dcm
void euler_to_dcm(const EulerAngles *e, double dcm[3][3])
Convert Euler angles to a direction cosine matrix.
Definition euler.c:41

EulerOrder
EulerOrder
Enumeration of supported Euler rotation orders.
Definition euler.h:14

EULER_ZYX
@ EULER_ZYX
Standard aerospace yaw → pitch → roll sequence.
Definition euler.h:15

EULER_XYZ
@ EULER_XYZ
Roll → pitch → yaw intrinsic sequence.
Definition euler.h:17

EULER_ZYZ
@ EULER_ZYZ
Useful for certain satellite pointing laws and robotics arms.
Definition euler.h:16

euler_to_quaternion
void euler_to_quaternion(const EulerAngles *e, double q[4])
Convert Euler angles to a quaternion.
Definition euler.c:67

euler_to_dcm_checked
int euler_to_dcm_checked(const EulerAngles *e, double dcm[3][3])
Checked Euler-to-DCM conversion.
Definition euler.c:16

EulerAngles
Storage for Euler angles with an associated rotation order.
Definition euler.h:26

EulerAngles::pitch
double pitch
Rotation about y-axis.
Definition euler.h:28

EulerAngles::yaw
double yaw
Rotation about z-axis.
Definition euler.h:29

EulerAngles::order
EulerOrder order
Intrinsic rotation order.
Definition euler.h:30

EulerAngles::roll
double roll
Rotation about x-axis.
Definition euler.h:27