MPUQuaternion.h
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00001 
00002 //
00003 //  This file is part of MPU9150Lib
00004 //
00005 //  Copyright (c) 2013 Pansenti, LLC
00006 //
00007 //  Permission is hereby granted, free of charge, to any person obtaining a copy of 
00008 //  this software and associated documentation files (the "Software"), to deal in 
00009 //  the Software without restriction, including without limitation the rights to use, 
00010 //  copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the 
00011 //  Software, and to permit persons to whom the Software is furnished to do so, 
00012 //  subject to the following conditions:
00013 //
00014 //  The above copyright notice and this permission notice shall be included in all 
00015 //  copies or substantial portions of the Software.
00016 //
00017 //  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
00018 //  INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 
00019 //  PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT 
00020 //  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 
00021 //  OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE 
00022 //  SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00023 
00024 #ifndef MPUQUATERNION_H_
00025 #define MPUQUATERNION_H_
00026 
00027 #include <math.h>
00028 #include "MPUVector3.h"
00029 
00030 #define QUAT_W          0                                                                               // scalar offset
00031 #define QUAT_X          1                                                                               // x offset
00032 #define QUAT_Y          2                                                                               // y offset
00033 #define QUAT_Z          3                                                                               // z offset
00034 
00035 typedef float MPUQuaternion[4]; 
00036 
00037 void MPUQuaternionNormalize(MPUQuaternion q);
00038 void MPUQuaternionQuaternionToEuler(const MPUQuaternion q, MPUVector3 v);
00039 void MPUQuaternionEulerToQuaternion(const MPUVector3 v, MPUQuaternion q);
00040 void MPUQuaternionConjugate(const MPUQuaternion s, MPUQuaternion d);
00041 void MPUQuaternionMultiply(const MPUQuaternion qa, const MPUQuaternion qb, MPUQuaternion qd);
00042 
00043 inline float MPUQuaternionNorm(MPUQuaternion q)
00044 {
00045   return sqrt(q[QUAT_W] * q[QUAT_W] + q[QUAT_X] * q[QUAT_X] +  
00046     q[QUAT_Y] * q[QUAT_Y] + q[QUAT_Z] * q[QUAT_Z]);
00047 }
00048 
00049 
00050 #endif /* MPUQUATERNION_H_ */


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:22