attitudeMathLibrary/doxygen/quaternion_8h_source.html

#ifndef ATTITUDE_QUATERNION_H

#define ATTITUDE_QUATERNION_H


#ifdef __cplusplus

extern "C" {

#endif


void quaternion_to_dcm(const double q[4], double dcm[3][3]);


void quaternion_to_euler(const double q[4], double *roll, double *pitch, double *yaw);


void quaternion_normalize(double q[4]);


void quaternion_multiply(const double q1[4], const double q2[4], double q_out[4]);


int quaternion_inverse(const double q[4], double q_inv[4]);


int quaternion_relative(const double q_current[4], const double q_target[4], double q_error[4]);


int quaternion_orientation_error_axis_angle(const double q_current[4],

                                            const double q_target[4],

                                            double axis[3],

                                            double *angle);


int quaternion_to_axis_angle(const double q[4], double axis[3], double *angle);


void quaternion_slerp(const double q1[4], const double q2[4], double t, double q_out[4]);


void axis_angle_rotate(const double axis[3], double angle, const double v_in[3], double v_out[3]);


void quaternion_rotate_vector(const double q[4], const double v_in[3], double v_out[3]);


void quaternion_rotate_vector_explicit(const double q[4], const double v_in[3], double v_out[3]);


void quaternion_set_explicit_debug(int enabled);


#ifdef __cplusplus

}

#endif


#endif // ATTITUDE_QUATERNION_H

quaternion_to_axis_angle
int quaternion_to_axis_angle(const double q[4], double axis[3], double *angle)
Convert a quaternion to axis-angle representation.
Definition quaternion.c:129

axis_angle_rotate
void axis_angle_rotate(const double axis[3], double angle, const double v_in[3], double v_out[3])
Rotate a vector about an axis by a given angle.
Definition quaternion.c:198

quaternion_inverse
int quaternion_inverse(const double q[4], double q_inv[4])
Compute the inverse of a quaternion.
Definition quaternion.c:85

quaternion_to_euler
void quaternion_to_euler(const double q[4], double *roll, double *pitch, double *yaw)
Convert a quaternion to intrinsic ZYX Euler angles.
Definition quaternion.c:27

quaternion_to_dcm
void quaternion_to_dcm(const double q[4], double dcm[3][3])
Convert a quaternion to a direction cosine matrix (DCM).
Definition quaternion.c:8

quaternion_normalize
void quaternion_normalize(double q[4])
Normalise a quaternion in-place.
Definition quaternion.c:57

quaternion_set_explicit_debug
void quaternion_set_explicit_debug(int enabled)
Enable verbose logging for the explicit quaternion rotation implementation.
Definition quaternion.c:326

quaternion_rotate_vector_explicit
void quaternion_rotate_vector_explicit(const double q[4], const double v_in[3], double v_out[3])
Rotate a vector using the explicit  formulation.
Definition quaternion.c:251

quaternion_slerp
void quaternion_slerp(const double q1[4], const double q2[4], double t, double q_out[4])
Interpolate two quaternions using spherical linear interpolation (SLERP).
Definition quaternion.c:146

quaternion_rotate_vector
void quaternion_rotate_vector(const double q[4], const double v_in[3], double v_out[3])
Rotate a vector using a quaternion.
Definition quaternion.c:213

quaternion_relative
int quaternion_relative(const double q_current[4], const double q_target[4], double q_error[4])
Compute the relative rotation from the current orientation to a target orientation.
Definition quaternion.c:98

quaternion_multiply
void quaternion_multiply(const double q1[4], const double q2[4], double q_out[4])
Multiply two quaternions using Hamilton product.
Definition quaternion.c:75

quaternion_orientation_error_axis_angle
int quaternion_orientation_error_axis_angle(const double q_current[4], const double q_target[4], double axis[3], double *angle)
Compute current-to-target orientation error as an axis-angle command.
Definition quaternion.c:117