orientation.h File Reference

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
void	f3DOFTiltNED (float fR[][3], float fGs[])
void	f3DOFTiltAndroid (float fR[][3], float fGs[])
void	f3DOFTiltWin8 (float fR[][3], float fGs[])
void	f3DOFMagnetometerMatrixNED (float fR[][3], float fBc[])
void	f3DOFMagnetometerMatrixAndroid (float fR[][3], float fBc[])
void	f3DOFMagnetometerMatrixWin8 (float fR[][3], float fBc[])
void	feCompassNED (float fR[][3], float *pfDelta, float fBc[], float fGs[])
void	feCompassAndroid (float fR[][3], float *pfDelta, float fBc[], float fGs[])
void	feCompassWin8 (float fR[][3], float *pfDelta, float fBc[], float fGs[])
void	fLeastSquareseCompassNED (struct fquaternion *pfq, float fB, float fDelta, float fsinDelta, float fcosDelta, float *pfDelta6DOF, float fBc[], float fGs[], float *pfQvB, float *pfQvG)
void	fLeastSquareseCompassAndroid (struct fquaternion *pfq, float fB, float fDelta, float fsinDelta, float fcosDelta, float *pfDelta6DOF, float fBc[], float fGs[], float *pfQvB, float *pfQvG)
void	fLeastSquareseCompassWin8 (struct fquaternion *pfq, float fB, float fDelta, float fsinDelta, float fcosDelta, float *pfDelta6DOF, float fBc[], float fGs[], float *pfQvB, float *pfQvG)
void	fNEDAnglesDegFromRotationMatrix (float R[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg)
void	fAndroidAnglesDegFromRotationMatrix (float R[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg)
void	fWin8AnglesDegFromRotationMatrix (float R[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg)
void	fQuaternionFromRotationMatrix (float R[][3], struct fquaternion *pq)
void	fRotationMatrixFromQuaternion (float R[][3], const struct fquaternion *pq)
void	qAeqBxC (struct fquaternion *pqA, const struct fquaternion *pqB, const struct fquaternion *pqC)
void	qAeqAxB (struct fquaternion *pqA, const struct fquaternion *pqB)
struct fquaternion	qconjgAxB (const struct fquaternion *pqA, const struct fquaternion *pqB)
void	fqAeqNormqA (struct fquaternion *pqA)
void	fqAeq1 (struct fquaternion *pqA)
void	fQuaternionFromRotationVectorDeg (struct fquaternion *pq, const float rvecdeg[], float fscaling)
void	fRotationVectorDegFromQuaternion (struct fquaternion *pq, float rvecdeg[])
void	fLPFOrientationQuaternion (struct fquaternion *pq, struct fquaternion *pLPq, float flpf, float fdeltat, float fOmega[])
void	fveqconjgquq (struct fquaternion *pfq, float fu[], float fv[])

Function Documentation

void f3DOFMagnetometerMatrixAndroid	(	float	fR[][3],
		float	fBc[]
	)

Definition at line 221 of file orientation.c.

References CHX, CHY, CHZ, and f3x3matrixAeqI().

Referenced by f3DOFMagnetometerMatrixWin8(), fInit_3DOF_B_BASIC(), and fRun_3DOF_B_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void f3DOFMagnetometerMatrixNED	(	float	fR[][3],
		float	fBc[]
	)

Definition at line 193 of file orientation.c.

References CHX, CHY, CHZ, and f3x3matrixAeqI().

Referenced by fInit_3DOF_B_BASIC(), and fRun_3DOF_B_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void f3DOFMagnetometerMatrixWin8	(	float	fR[][3],
		float	fBc[]
	)

Definition at line 249 of file orientation.c.

References f3DOFMagnetometerMatrixAndroid().

Referenced by fInit_3DOF_B_BASIC(), and fRun_3DOF_B_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void f3DOFTiltAndroid	(	float	fR[][3],
		float	fGs[]
	)

Definition at line 110 of file orientation.c.

References f3DOFTiltNED().

Referenced by fInit_3DOF_G_BASIC(), fInit_6DOF_GY_KALMAN(), and fRun_3DOF_G_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void f3DOFTiltNED	(	float	fR[][3],
		float	fGs[]
	)

Definition at line 44 of file orientation.c.

References CHX, CHY, CHZ, f3x3matrixAeqI(), and f3x3matrixAeqScalar().

Referenced by f3DOFTiltAndroid(), fInit_3DOF_G_BASIC(), fInit_6DOF_GY_KALMAN(), and fRun_3DOF_G_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void f3DOFTiltWin8	(	float	fR[][3],
		float	fGs[]
	)

Definition at line 119 of file orientation.c.

References CHX, CHY, CHZ, f3x3matrixAeqI(), and f3x3matrixAeqScalar().

Referenced by fInit_3DOF_G_BASIC(), fInit_6DOF_GY_KALMAN(), and fRun_3DOF_G_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void fAndroidAnglesDegFromRotationMatrix	(	float	R[][3],
		float *	pfPhiDeg,
		float *	pfTheDeg,
		float *	pfPsiDeg,
		float *	pfRhoDeg,
		float *	pfChiDeg
	)

Definition at line 853 of file orientation.c.

References CHX, CHY, CHZ, facos_deg(), fasin_deg(), and fatan2_deg().

Referenced by fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GB_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the call graph for this function:

Here is the caller graph for this function:

void feCompassAndroid	(	float	fR[][3],
		float *	pfDelta,
		float	fBc[],
		float	fGs[]
	)

Definition at line 326 of file orientation.c.

References CHX, CHY, CHZ, f3x3matrixAeqI(), and fasin_deg().

Referenced by fInit_6DOF_GB_BASIC(), and fRun_6DOF_GB_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void feCompassNED	(	float	fR[][3],
		float *	pfDelta,
		float	fBc[],
		float	fGs[]
	)

Definition at line 258 of file orientation.c.

References CHX, CHY, CHZ, f3x3matrixAeqI(), and fasin_deg().

Referenced by fInit_6DOF_GB_BASIC(), and fRun_6DOF_GB_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void feCompassWin8	(	float	fR[][3],
		float *	pfDelta,
		float	fBc[],
		float	fGs[]
	)

Definition at line 394 of file orientation.c.

References CHX, CHY, CHZ, f3x3matrixAeqI(), and fasin_deg().

Referenced by fInit_6DOF_GB_BASIC(), and fRun_6DOF_GB_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void fLeastSquareseCompassAndroid	(	struct fquaternion *	pfq,
		float	fB,
		float	fDelta,
		float	fsinDelta,
		float	fcosDelta,
		float *	pfDelta6DOF,
		float	fBc[],
		float	fGs[],
		float *	pfQvB,
		float *	pfQvG
	)

Definition at line 576 of file orientation.c.

References CHX, CHY, CHZ, eigencompute4(), fasin_deg(), fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the call graph for this function:

Here is the caller graph for this function:

void fLeastSquareseCompassNED	(	struct fquaternion *	pfq,
		float	fB,
		float	fDelta,
		float	fsinDelta,
		float	fcosDelta,
		float *	pfDelta6DOF,
		float	fBc[],
		float	fGs[],
		float *	pfQvB,
		float *	pfQvG
	)

Definition at line 463 of file orientation.c.

References CHX, CHY, CHZ, eigencompute4(), fasin_deg(), fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the call graph for this function:

Here is the caller graph for this function:

void fLeastSquareseCompassWin8	(	struct fquaternion *	pfq,
		float	fB,
		float	fDelta,
		float	fsinDelta,
		float	fcosDelta,
		float *	pfDelta6DOF,
		float	fBc[],
		float	fGs[],
		float *	pfQvB,
		float *	pfQvG
	)

Definition at line 688 of file orientation.c.

References CHX, CHY, CHZ, eigencompute4(), fasin_deg(), fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fInit_9DOF_GBY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the call graph for this function:

Here is the caller graph for this function:

void fLPFOrientationQuaternion	(	struct fquaternion *	pq,
		struct fquaternion *	pLPq,
		float	flpf,
		float	fdeltat,
		float	fOmega[]
	)

Definition at line 1198 of file orientation.c.

References CHX, CHY, CHZ, fqAeqNormqA(), fRotationVectorDegFromQuaternion(), fquaternion::q0, fquaternion::q1, fquaternion::q2, fquaternion::q3, qAeqAxB(), and qconjgAxB().

Referenced by fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), and fRun_6DOF_GB_BASIC().

Here is the call graph for this function:

Here is the caller graph for this function:

void fNEDAnglesDegFromRotationMatrix	(	float	R[][3],
		float *	pfPhiDeg,
		float *	pfTheDeg,
		float *	pfPsiDeg,
		float *	pfRhoDeg,
		float *	pfChiDeg
	)

Definition at line 799 of file orientation.c.

References CHX, CHY, CHZ, facos_deg(), fasin_deg(), and fatan2_deg().

Referenced by fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GB_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the call graph for this function:

Here is the caller graph for this function:

void fqAeq1

(

struct fquaternion *

pqA

)

Definition at line 1331 of file orientation.c.

References fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fInit_3DOF_Y_BASIC().

Here is the caller graph for this function:

void fqAeqNormqA

(

struct fquaternion *

pqA

)

Definition at line 1296 of file orientation.c.

References CORRUPTQUAT, fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fLPFOrientationQuaternion(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

void fQuaternionFromRotationMatrix	(	float	R[][3],
		struct fquaternion *	pq
	)

Definition at line 1067 of file orientation.c.

References CHX, CHY, CHZ, fquaternion::q0, fquaternion::q1, fquaternion::q2, fquaternion::q3, and SMALLQ0.

Referenced by fInit_3DOF_B_BASIC(), fInit_3DOF_G_BASIC(), fInit_6DOF_GB_BASIC(), fInit_6DOF_GY_KALMAN(), fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), and fRun_6DOF_GB_BASIC().

Here is the caller graph for this function:

void fQuaternionFromRotationVectorDeg	(	struct fquaternion *	pq,
		const float	rvecdeg[],
		float	fscaling
	)

Definition at line 999 of file orientation.c.

References CHX, CHY, CHZ, FPIOVER180, ONEOVER3840, ONEOVER48, fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fRun_3DOF_Y_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

void fRotationMatrixFromQuaternion	(	float	R[][3],
		const struct fquaternion *	pq
	)

Definition at line 1108 of file orientation.c.

References CHX, CHY, CHZ, fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fInit_9DOF_GBY_KALMAN(), fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GB_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

void fRotationVectorDegFromQuaternion	(	struct fquaternion *	pq,
		float	rvecdeg[]
	)

Definition at line 1148 of file orientation.c.

References CHX, CHY, CHZ, F180OVERPI, FPIOVER180, fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fLPFOrientationQuaternion(), fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GB_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

void fveqconjgquq	(	struct fquaternion *	pfq,
		float	fu[],
		float	fv[]
	)

Definition at line 1341 of file orientation.c.

References CHX, CHY, CHZ, ONEOVERSQRT2, fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

void fWin8AnglesDegFromRotationMatrix	(	float	R[][3],
		float *	pfPhiDeg,
		float *	pfTheDeg,
		float *	pfPsiDeg,
		float *	pfRhoDeg,
		float *	pfChiDeg
	)

Definition at line 908 of file orientation.c.

References CHX, CHY, CHZ, facos_deg(), fasin_deg(), fatan2_deg(), and fatan_deg().

Referenced by fRun_3DOF_B_BASIC(), fRun_3DOF_G_BASIC(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GB_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the call graph for this function:

Here is the caller graph for this function:

void qAeqAxB	(	struct fquaternion *	pqA,
		const struct fquaternion *	pqB
	)

Definition at line 1266 of file orientation.c.

References fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fLPFOrientationQuaternion(), fRun_3DOF_Y_BASIC(), fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

void qAeqBxC	(	struct fquaternion *	pqA,
		const struct fquaternion *	pqB,
		const struct fquaternion *	pqC
	)

Definition at line 1255 of file orientation.c.

References fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fRun_6DOF_GY_KALMAN(), and fRun_9DOF_GBY_KALMAN().

Here is the caller graph for this function:

struct fquaternion qconjgAxB	(	const struct fquaternion *	pqA,
		const struct fquaternion *	pqB
	)

Definition at line 1283 of file orientation.c.

References fquaternion::q0, fquaternion::q1, fquaternion::q2, and fquaternion::q3.

Referenced by fLPFOrientationQuaternion().

Here is the caller graph for this function: