1<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 2<html xmlns="http://www.w3.org/1999/xhtml"> 3<head> 4<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> 5<meta http-equiv="X-UA-Compatible" content="IE=9"/> 6<meta name="generator" content="Doxygen 1.8.13"/> 7<meta name="viewport" content="width=device-width, initial-scale=1"/> 8<title>ISSDK: algorithms/sensorfusion/sources/orientation.c File Reference</title> 9<link href="tabs.css" rel="stylesheet" type="text/css"/> 10<script type="text/javascript" src="jquery.js"></script> 11<script type="text/javascript" src="dynsections.js"></script> 12<link href="issdk_stylesheet.css" rel="stylesheet" type="text/css" /> 13</head> 14<body> 15<div id="top"><!-- do not remove this div, it is closed by doxygen! --> 16<div id="titlearea"> 17<table cellspacing="0" cellpadding="0"> 18 <tbody> 19 <tr style="height: 56px;"> 20 <td id="projectlogo"><img alt="Logo" src="nxp_logo_small.png"/></td> 21 <td id="projectalign" style="padding-left: 0.5em;"> 22 <div id="projectname">ISSDK 23  <span id="projectnumber">1.8</span> 24 </div> 25 <div id="projectbrief">IoT Sensing Software Development Kit</div> 26 </td> 27 </tr> 28 </tbody> 29</table> 30</div> 31<!-- end header part --> 32<!-- Generated by Doxygen 1.8.13 --> 33<script type="text/javascript" src="menudata.js"></script> 34<script type="text/javascript" src="menu.js"></script> 35<script type="text/javascript"> 36$(function() { 37 initMenu('',false,false,'search.php','Search'); 38}); 39</script> 40<div id="main-nav"></div> 41<div id="nav-path" class="navpath"> 42 <ul> 43<li class="navelem"><a class="el" href="dir_c0ce462e37efe0a8d60c01d75f78f8a0.html">algorithms</a></li><li class="navelem"><a class="el" href="dir_cb8ed5ffd1f20a5af7e420f81f312621.html">sensorfusion</a></li><li class="navelem"><a class="el" href="dir_c60867674b20e7d761cd401b87ce879d.html">sources</a></li> </ul> 44</div> 45</div><!-- top --> 46<div class="header"> 47 <div class="summary"> 48<a href="#define-members">Macros</a> | 49<a href="#func-members">Functions</a> </div> 50 <div class="headertitle"> 51<div class="title">orientation.c File Reference</div> </div> 52</div><!--header--> 53<div class="contents"> 54 55<p>Functions to convert between various orientation representations. 56<a href="#details">More...</a></p> 57<div class="textblock"><code>#include "stdio.h"</code><br /> 58<code>#include "math.h"</code><br /> 59<code>#include "stdlib.h"</code><br /> 60<code>#include "time.h"</code><br /> 61<code>#include "string.h"</code><br /> 62<code>#include "<a class="el" href="a00914_source.html">sensor_fusion.h</a>"</code><br /> 63<code>#include "<a class="el" href="a00899_source.html">orientation.h</a>"</code><br /> 64<code>#include "<a class="el" href="a00848_source.html">fusion.h</a>"</code><br /> 65<code>#include "<a class="el" href="a00890_source.html">matrix.h</a>"</code><br /> 66<code>#include "<a class="el" href="a00764_source.html">approximations.h</a>"</code><br /> 67</div><div class="textblock"><div class="dynheader"> 68Include dependency graph for orientation.c:</div> 69<div class="dyncontent"> 70<div class="center"><img src="a00897.png" border="0" usemap="#algorithms_2sensorfusion_2sources_2orientation_8c" alt=""/></div> 71<map name="algorithms_2sensorfusion_2sources_2orientation_8c" id="algorithms_2sensorfusion_2sources_2orientation_8c"> 72<area shape="rect" id="node7" href="a00914.html" title="The sensor_fusion.h file implements the top level programming interface. " alt="" coords="126,169,239,196"/> 73<area shape="rect" id="node8" href="a00899.html" title="Functions to convert between various orientation representations. " alt="" coords="179,244,272,271"/> 74<area shape="rect" id="node9" href="a00890.html" title="Matrix manipulation functions. " alt="" coords="296,244,365,271"/> 75<area shape="rect" id="node10" href="a00848.html" title="Lower level sensor fusion interface. " alt="" coords="175,95,241,121"/> 76<area shape="rect" id="node11" href="a00764.html" title="Math approximations file. " alt="" coords="627,95,749,121"/> 77</map> 78</div> 79</div> 80<p><a href="a00896_source.html">Go to the source code of this file.</a></p> 81<table class="memberdecls"> 82<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a> 83Macros</h2></td></tr> 84<tr class="memitem:a66564e58123257e31716bc9cfdc0754b"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a66564e58123257e31716bc9cfdc0754b">SMALLQ0</a>   1E-4F</td></tr> 85<tr class="separator:a66564e58123257e31716bc9cfdc0754b"><td class="memSeparator" colspan="2"> </td></tr> 86<tr class="memitem:ac8e335a45faed642aab8a104b24b68c6"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#ac8e335a45faed642aab8a104b24b68c6">CORRUPTQUAT</a>   0.001F</td></tr> 87<tr class="separator:ac8e335a45faed642aab8a104b24b68c6"><td class="memSeparator" colspan="2"> </td></tr> 88<tr class="memitem:a75fd3bc70409015ca43f604bb0ba3c4c"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a75fd3bc70409015ca43f604bb0ba3c4c">SMALLMODULUS</a>   0.01F</td></tr> 89<tr class="separator:a75fd3bc70409015ca43f604bb0ba3c4c"><td class="memSeparator" colspan="2"> </td></tr> 90</table><table class="memberdecls"> 91<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a> 92Functions</h2></td></tr> 93<tr class="memitem:a3aea6b9a9647d15db0dad4be820fbba9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a3aea6b9a9647d15db0dad4be820fbba9">f3DOFMagnetometerMatrixNED</a> (float fR[][3], float fBc[])</td></tr> 94<tr class="memdesc:a3aea6b9a9647d15db0dad4be820fbba9"><td class="mdescLeft"> </td><td class="mdescRight">Aerospace NED magnetometer 3DOF flat eCompass function, computing rotation matrix fR. <a href="#a3aea6b9a9647d15db0dad4be820fbba9">More...</a><br /></td></tr> 95<tr class="separator:a3aea6b9a9647d15db0dad4be820fbba9"><td class="memSeparator" colspan="2"> </td></tr> 96<tr class="memitem:a765e472022e2ba9717989e6527df49a8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a765e472022e2ba9717989e6527df49a8">f3DOFMagnetometerMatrixAndroid</a> (float fR[][3], float fBc[])</td></tr> 97<tr class="memdesc:a765e472022e2ba9717989e6527df49a8"><td class="mdescLeft"> </td><td class="mdescRight">Android magnetometer 3DOF flat eCompass function, computing rotation matrix fR. <a href="#a765e472022e2ba9717989e6527df49a8">More...</a><br /></td></tr> 98<tr class="separator:a765e472022e2ba9717989e6527df49a8"><td class="memSeparator" colspan="2"> </td></tr> 99<tr class="memitem:a79e9bfb4c86c1cd82b83058afd08df10"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a79e9bfb4c86c1cd82b83058afd08df10">f3DOFMagnetometerMatrixWin8</a> (float fR[][3], float fBc[])</td></tr> 100<tr class="memdesc:a79e9bfb4c86c1cd82b83058afd08df10"><td class="mdescLeft"> </td><td class="mdescRight">Windows 8 magnetometer 3DOF flat eCompass function, computing rotation matrix fR. <a href="#a79e9bfb4c86c1cd82b83058afd08df10">More...</a><br /></td></tr> 101<tr class="separator:a79e9bfb4c86c1cd82b83058afd08df10"><td class="memSeparator" colspan="2"> </td></tr> 102<tr class="memitem:afcde979fba0bcae15591096fe68648c9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#afcde979fba0bcae15591096fe68648c9">feCompassNED</a> (float fR[][3], float *pfDelta, float *pfsinDelta, float *pfcosDelta, float fBc[], float fGc[], float *pfmodBc, float *pfmodGc)</td></tr> 103<tr class="memdesc:afcde979fba0bcae15591096fe68648c9"><td class="mdescLeft"> </td><td class="mdescRight">NED: basic 6DOF e-Compass function, computing rotation matrix fR and magnetic inclination angle fDelta. <a href="#afcde979fba0bcae15591096fe68648c9">More...</a><br /></td></tr> 104<tr class="separator:afcde979fba0bcae15591096fe68648c9"><td class="memSeparator" colspan="2"> </td></tr> 105<tr class="memitem:a43ad72cf13f54b0f96355bb7005b6872"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a43ad72cf13f54b0f96355bb7005b6872">feCompassAndroid</a> (float fR[][3], float *pfDelta, float *pfsinDelta, float *pfcosDelta, float fBc[], float fGc[], float *pfmodBc, float *pfmodGc)</td></tr> 106<tr class="memdesc:a43ad72cf13f54b0f96355bb7005b6872"><td class="mdescLeft"> </td><td class="mdescRight">Android: basic 6DOF e-Compass function, computing rotation matrix fR and magnetic inclination angle fDelta. <a href="#a43ad72cf13f54b0f96355bb7005b6872">More...</a><br /></td></tr> 107<tr class="separator:a43ad72cf13f54b0f96355bb7005b6872"><td class="memSeparator" colspan="2"> </td></tr> 108<tr class="memitem:aabc044b27a0cdd7db677c3203b77de90"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#aabc044b27a0cdd7db677c3203b77de90">feCompassWin8</a> (float fR[][3], float *pfDelta, float *pfsinDelta, float *pfcosDelta, float fBc[], float fGc[], float *pfmodBc, float *pfmodGc)</td></tr> 109<tr class="memdesc:aabc044b27a0cdd7db677c3203b77de90"><td class="mdescLeft"> </td><td class="mdescRight">Win8: basic 6DOF e-Compass function, computing rotation matrix fR and magnetic inclination angle fDelta. <a href="#aabc044b27a0cdd7db677c3203b77de90">More...</a><br /></td></tr> 110<tr class="separator:aabc044b27a0cdd7db677c3203b77de90"><td class="memSeparator" colspan="2"> </td></tr> 111<tr class="memitem:aa781ea4b9430531df4697d3cb39f7454"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#aa781ea4b9430531df4697d3cb39f7454">fNEDAnglesDegFromRotationMatrix</a> (float <a class="el" href="a00920.html#a5c71a5e59a53413cd6c270266d63b031">R</a>[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg)</td></tr> 112<tr class="memdesc:aa781ea4b9430531df4697d3cb39f7454"><td class="mdescLeft"> </td><td class="mdescRight">extract the NED angles in degrees from the NED rotation matrix <a href="#aa781ea4b9430531df4697d3cb39f7454">More...</a><br /></td></tr> 113<tr class="separator:aa781ea4b9430531df4697d3cb39f7454"><td class="memSeparator" colspan="2"> </td></tr> 114<tr class="memitem:a77eeda9a699b1456bb8b02665ad80522"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a77eeda9a699b1456bb8b02665ad80522">fAndroidAnglesDegFromRotationMatrix</a> (float <a class="el" href="a00920.html#a5c71a5e59a53413cd6c270266d63b031">R</a>[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg)</td></tr> 115<tr class="memdesc:a77eeda9a699b1456bb8b02665ad80522"><td class="mdescLeft"> </td><td class="mdescRight">extract the Android angles in degrees from the Android rotation matrix <a href="#a77eeda9a699b1456bb8b02665ad80522">More...</a><br /></td></tr> 116<tr class="separator:a77eeda9a699b1456bb8b02665ad80522"><td class="memSeparator" colspan="2"> </td></tr> 117<tr class="memitem:a13cd93780206a620abc7bdf7907e6dc6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a13cd93780206a620abc7bdf7907e6dc6">fWin8AnglesDegFromRotationMatrix</a> (float <a class="el" href="a00920.html#a5c71a5e59a53413cd6c270266d63b031">R</a>[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg)</td></tr> 118<tr class="memdesc:a13cd93780206a620abc7bdf7907e6dc6"><td class="mdescLeft"> </td><td class="mdescRight">extract the Windows 8 angles in degrees from the Windows 8 rotation matrix <a href="#a13cd93780206a620abc7bdf7907e6dc6">More...</a><br /></td></tr> 119<tr class="separator:a13cd93780206a620abc7bdf7907e6dc6"><td class="memSeparator" colspan="2"> </td></tr> 120<tr class="memitem:a9f946d534fae22e9e68b9f0e2e2822ef"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a9f946d534fae22e9e68b9f0e2e2822ef">fQuaternionFromRotationVectorDeg</a> (<a class="el" href="a03979.html">Quaternion</a> *pq, const float rvecdeg[], float fscaling)</td></tr> 121<tr class="memdesc:a9f946d534fae22e9e68b9f0e2e2822ef"><td class="mdescLeft"> </td><td class="mdescRight">computes normalized rotation quaternion from a rotation vector (deg) <a href="#a9f946d534fae22e9e68b9f0e2e2822ef">More...</a><br /></td></tr> 122<tr class="separator:a9f946d534fae22e9e68b9f0e2e2822ef"><td class="memSeparator" colspan="2"> </td></tr> 123<tr class="memitem:a04da5468213c1687c5b3485f15af288e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a04da5468213c1687c5b3485f15af288e">fQuaternionFromRotationMatrix</a> (float <a class="el" href="a00920.html#a5c71a5e59a53413cd6c270266d63b031">R</a>[][3], <a class="el" href="a03979.html">Quaternion</a> *pq)</td></tr> 124<tr class="memdesc:a04da5468213c1687c5b3485f15af288e"><td class="mdescLeft"> </td><td class="mdescRight">compute the orientation quaternion from a 3x3 rotation matrix <a href="#a04da5468213c1687c5b3485f15af288e">More...</a><br /></td></tr> 125<tr class="separator:a04da5468213c1687c5b3485f15af288e"><td class="memSeparator" colspan="2"> </td></tr> 126<tr class="memitem:ab93a6fd700fd1557e9b8f6796bfe3035"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#ab93a6fd700fd1557e9b8f6796bfe3035">fRotationMatrixFromQuaternion</a> (float <a class="el" href="a00920.html#a5c71a5e59a53413cd6c270266d63b031">R</a>[][3], const <a class="el" href="a03979.html">Quaternion</a> *pq)</td></tr> 127<tr class="memdesc:ab93a6fd700fd1557e9b8f6796bfe3035"><td class="mdescLeft"> </td><td class="mdescRight">compute the rotation matrix from an orientation quaternion <a href="#ab93a6fd700fd1557e9b8f6796bfe3035">More...</a><br /></td></tr> 128<tr class="separator:ab93a6fd700fd1557e9b8f6796bfe3035"><td class="memSeparator" colspan="2"> </td></tr> 129<tr class="memitem:aa48ae334cf6bbedf2b9e7423d17cb4ac"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#aa48ae334cf6bbedf2b9e7423d17cb4ac">fRotationVectorDegFromQuaternion</a> (<a class="el" href="a03979.html">Quaternion</a> *pq, float rvecdeg[])</td></tr> 130<tr class="memdesc:aa48ae334cf6bbedf2b9e7423d17cb4ac"><td class="mdescLeft"> </td><td class="mdescRight">computes rotation vector (deg) from rotation quaternion <a href="#aa48ae334cf6bbedf2b9e7423d17cb4ac">More...</a><br /></td></tr> 131<tr class="separator:aa48ae334cf6bbedf2b9e7423d17cb4ac"><td class="memSeparator" colspan="2"> </td></tr> 132<tr class="memitem:ad60a32e44f24a4b8fa5bddfb23721bc8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#ad60a32e44f24a4b8fa5bddfb23721bc8">fLPFOrientationQuaternion</a> (<a class="el" href="a03979.html">Quaternion</a> *pq, <a class="el" href="a03979.html">Quaternion</a> *pLPq, float flpf, float fdeltat, float fOmega[])</td></tr> 133<tr class="memdesc:ad60a32e44f24a4b8fa5bddfb23721bc8"><td class="mdescLeft"> </td><td class="mdescRight">function low pass filters an orientation quaternion and computes virtual gyro rotation rate <a href="#ad60a32e44f24a4b8fa5bddfb23721bc8">More...</a><br /></td></tr> 134<tr class="separator:ad60a32e44f24a4b8fa5bddfb23721bc8"><td class="memSeparator" colspan="2"> </td></tr> 135<tr class="memitem:a12448c36b93d8f3375ce000ef4527b4a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a12448c36b93d8f3375ce000ef4527b4a">qAeqBxC</a> (<a class="el" href="a03979.html">Quaternion</a> *pqA, const <a class="el" href="a03979.html">Quaternion</a> *pqB, const <a class="el" href="a03979.html">Quaternion</a> *pqC)</td></tr> 136<tr class="memdesc:a12448c36b93d8f3375ce000ef4527b4a"><td class="mdescLeft"> </td><td class="mdescRight">function compute the quaternion product qB * qC <a href="#a12448c36b93d8f3375ce000ef4527b4a">More...</a><br /></td></tr> 137<tr class="separator:a12448c36b93d8f3375ce000ef4527b4a"><td class="memSeparator" colspan="2"> </td></tr> 138<tr class="memitem:a22a32becfcb162db012f41ff4f3bc942"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a22a32becfcb162db012f41ff4f3bc942">qAeqAxB</a> (<a class="el" href="a03979.html">Quaternion</a> *pqA, const <a class="el" href="a03979.html">Quaternion</a> *pqB)</td></tr> 139<tr class="memdesc:a22a32becfcb162db012f41ff4f3bc942"><td class="mdescLeft"> </td><td class="mdescRight">function compute the quaternion product qA = qA * qB <a href="#a22a32becfcb162db012f41ff4f3bc942">More...</a><br /></td></tr> 140<tr class="separator:a22a32becfcb162db012f41ff4f3bc942"><td class="memSeparator" colspan="2"> </td></tr> 141<tr class="memitem:adb2ea2734ac13ca77b3218d761fe45e0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="a03979.html">Quaternion</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#adb2ea2734ac13ca77b3218d761fe45e0">qconjgAxB</a> (const <a class="el" href="a03979.html">Quaternion</a> *pqA, const <a class="el" href="a03979.html">Quaternion</a> *pqB)</td></tr> 142<tr class="memdesc:adb2ea2734ac13ca77b3218d761fe45e0"><td class="mdescLeft"> </td><td class="mdescRight">function compute the quaternion product conjg(qA) * qB <a href="#adb2ea2734ac13ca77b3218d761fe45e0">More...</a><br /></td></tr> 143<tr class="separator:adb2ea2734ac13ca77b3218d761fe45e0"><td class="memSeparator" colspan="2"> </td></tr> 144<tr class="memitem:a3bcc5aef9bd7abd545d33660aa3ccbd0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a3bcc5aef9bd7abd545d33660aa3ccbd0">fqAeqNormqA</a> (<a class="el" href="a03979.html">Quaternion</a> *pqA)</td></tr> 145<tr class="memdesc:a3bcc5aef9bd7abd545d33660aa3ccbd0"><td class="mdescLeft"> </td><td class="mdescRight">function normalizes a rotation quaternion and ensures q0 is non-negative <a href="#a3bcc5aef9bd7abd545d33660aa3ccbd0">More...</a><br /></td></tr> 146<tr class="separator:a3bcc5aef9bd7abd545d33660aa3ccbd0"><td class="memSeparator" colspan="2"> </td></tr> 147<tr class="memitem:a624e56625ef65d6af54643c866a6c64c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a624e56625ef65d6af54643c866a6c64c">fqAeq1</a> (<a class="el" href="a03979.html">Quaternion</a> *pqA)</td></tr> 148<tr class="memdesc:a624e56625ef65d6af54643c866a6c64c"><td class="mdescLeft"> </td><td class="mdescRight">set a quaternion to the unit quaternion <a href="#a624e56625ef65d6af54643c866a6c64c">More...</a><br /></td></tr> 149<tr class="separator:a624e56625ef65d6af54643c866a6c64c"><td class="memSeparator" colspan="2"> </td></tr> 150<tr class="memitem:a4ced4d83316052e2c97ce2746abdc1e0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="a00896.html#a4ced4d83316052e2c97ce2746abdc1e0">fveqconjgquq</a> (<a class="el" href="a03979.html">Quaternion</a> *pfq, float fu[], float fv[])</td></tr> 151<tr class="separator:a4ced4d83316052e2c97ce2746abdc1e0"><td class="memSeparator" colspan="2"> </td></tr> 152</table> 153<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2> 154<div class="textblock"><p>Functions to convert between various orientation representations. </p> 155<p>Functions to convert between various orientation representations. Also includes functions for manipulating quaternions. </p> 156 157<p class="definition">Definition in file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 158</div><h2 class="groupheader">Macro Definition Documentation</h2> 159<a id="ac8e335a45faed642aab8a104b24b68c6"></a> 160<h2 class="memtitle"><span class="permalink"><a href="#ac8e335a45faed642aab8a104b24b68c6">◆ </a></span>CORRUPTQUAT</h2> 161 162<div class="memitem"> 163<div class="memproto"> 164 <table class="memname"> 165 <tr> 166 <td class="memname">#define CORRUPTQUAT   0.001F</td> 167 </tr> 168 </table> 169</div><div class="memdoc"> 170 171<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00036">36</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 172 173<p class="reference">Referenced by <a class="el" href="a00896_source.html#l00983">fqAeqNormqA()</a>.</p> 174 175</div> 176</div> 177<a id="a75fd3bc70409015ca43f604bb0ba3c4c"></a> 178<h2 class="memtitle"><span class="permalink"><a href="#a75fd3bc70409015ca43f604bb0ba3c4c">◆ </a></span>SMALLMODULUS</h2> 179 180<div class="memitem"> 181<div class="memproto"> 182 <table class="memname"> 183 <tr> 184 <td class="memname">#define SMALLMODULUS   0.01F</td> 185 </tr> 186 </table> 187</div><div class="memdoc"> 188 189<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00037">37</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 190 191</div> 192</div> 193<a id="a66564e58123257e31716bc9cfdc0754b"></a> 194<h2 class="memtitle"><span class="permalink"><a href="#a66564e58123257e31716bc9cfdc0754b">◆ </a></span>SMALLQ0</h2> 195 196<div class="memitem"> 197<div class="memproto"> 198 <table class="memname"> 199 <tr> 200 <td class="memname">#define SMALLQ0   1E-4F</td> 201 </tr> 202 </table> 203</div><div class="memdoc"> 204 205<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00035">35</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 206 207<p class="reference">Referenced by <a class="el" href="a00896_source.html#l00765">fQuaternionFromRotationMatrix()</a>.</p> 208 209</div> 210</div> 211<h2 class="groupheader">Function Documentation</h2> 212<a id="a765e472022e2ba9717989e6527df49a8"></a> 213<h2 class="memtitle"><span class="permalink"><a href="#a765e472022e2ba9717989e6527df49a8">◆ </a></span>f3DOFMagnetometerMatrixAndroid()</h2> 214 215<div class="memitem"> 216<div class="memproto"> 217 <table class="memname"> 218 <tr> 219 <td class="memname">void f3DOFMagnetometerMatrixAndroid </td> 220 <td>(</td> 221 <td class="paramtype">float </td> 222 <td class="paramname"><em>fR</em>[][3], </td> 223 </tr> 224 <tr> 225 <td class="paramkey"></td> 226 <td></td> 227 <td class="paramtype">float </td> 228 <td class="paramname"><em>fBc</em>[] </td> 229 </tr> 230 <tr> 231 <td></td> 232 <td>)</td> 233 <td></td><td></td> 234 </tr> 235 </table> 236</div><div class="memdoc"> 237 238<p>Android magnetometer 3DOF flat eCompass function, computing rotation matrix fR. </p> 239<dl class="params"><dt>Parameters</dt><dd> 240 <table class="params"> 241 <tr><td class="paramname">fR</td><td>computed rotation matrix (output) </td></tr> 242 <tr><td class="paramname">fBc</td><td>calibrated magnetometer reading (input) </td></tr> 243 </table> 244 </dd> 245</dl> 246 247<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00229">229</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 248 249<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, and <a class="el" href="a00887_source.html#l00027">f3x3matrixAeqI()</a>.</p> 250 251<p class="reference">Referenced by <a class="el" href="a00896_source.html#l00259">f3DOFMagnetometerMatrixWin8()</a>, <a class="el" href="a00845_source.html#l00207">fInit_3DOF_B_BASIC()</a>, and <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>.</p> 252<div class="dynheader"> 253Here is the call graph for this function:</div> 254<div class="dyncontent"> 255<div class="center"><img src="a00896_a765e472022e2ba9717989e6527df49a8_cgraph.png" border="0" usemap="#a00896_a765e472022e2ba9717989e6527df49a8_cgraph" alt=""/></div> 256<map name="a00896_a765e472022e2ba9717989e6527df49a8_cgraph" id="a00896_a765e472022e2ba9717989e6527df49a8_cgraph"> 257<area shape="rect" id="node2" href="a00887.html#a54f510d9d257d6063412a9ed5adddd6f" title="function sets the 3x3 matrix A to the identity matrix " alt="" coords="276,5,384,32"/> 258</map> 259</div> 260<div class="dynheader"> 261Here is the caller graph for this function:</div> 262<div class="dyncontent"> 263<div class="center"><img src="a00896_a765e472022e2ba9717989e6527df49a8_icgraph.png" border="0" usemap="#a00896_a765e472022e2ba9717989e6527df49a8_icgraph" alt=""/></div> 264<map name="a00896_a765e472022e2ba9717989e6527df49a8_icgraph" id="a00896_a765e472022e2ba9717989e6527df49a8_icgraph"> 265<area shape="rect" id="node2" href="a00899.html#a79e9bfb4c86c1cd82b83058afd08df10" title="Windows 8 magnetometer 3DOF flat eCompass function, computing rotation matrix fR. ..." alt="" coords="276,56,484,83"/> 266<area shape="rect" id="node3" href="a00848.html#adc49d74394c2a94a33ff65edea18233b" title="fInit_3DOF_B_BASIC" alt="" coords="532,5,677,32"/> 267<area shape="rect" id="node4" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="725,56,876,83"/> 268</map> 269</div> 270 271</div> 272</div> 273<a id="a3aea6b9a9647d15db0dad4be820fbba9"></a> 274<h2 class="memtitle"><span class="permalink"><a href="#a3aea6b9a9647d15db0dad4be820fbba9">◆ </a></span>f3DOFMagnetometerMatrixNED()</h2> 275 276<div class="memitem"> 277<div class="memproto"> 278 <table class="memname"> 279 <tr> 280 <td class="memname">void f3DOFMagnetometerMatrixNED </td> 281 <td>(</td> 282 <td class="paramtype">float </td> 283 <td class="paramname"><em>fR</em>[][3], </td> 284 </tr> 285 <tr> 286 <td class="paramkey"></td> 287 <td></td> 288 <td class="paramtype">float </td> 289 <td class="paramname"><em>fBc</em>[] </td> 290 </tr> 291 <tr> 292 <td></td> 293 <td>)</td> 294 <td></td><td></td> 295 </tr> 296 </table> 297</div><div class="memdoc"> 298 299<p>Aerospace NED magnetometer 3DOF flat eCompass function, computing rotation matrix fR. </p> 300<dl class="params"><dt>Parameters</dt><dd> 301 <table class="params"> 302 <tr><td class="paramname">fR</td><td>computed rotation matrix (output) </td></tr> 303 <tr><td class="paramname">fBc</td><td>calibrated magnetometer reading (input) </td></tr> 304 </table> 305 </dd> 306</dl> 307 308<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00199">199</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 309 310<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, and <a class="el" href="a00887_source.html#l00027">f3x3matrixAeqI()</a>.</p> 311 312<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00207">fInit_3DOF_B_BASIC()</a>, and <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>.</p> 313<div class="dynheader"> 314Here is the call graph for this function:</div> 315<div class="dyncontent"> 316<div class="center"><img src="a00896_a3aea6b9a9647d15db0dad4be820fbba9_cgraph.png" border="0" usemap="#a00896_a3aea6b9a9647d15db0dad4be820fbba9_cgraph" alt=""/></div> 317<map name="a00896_a3aea6b9a9647d15db0dad4be820fbba9_cgraph" id="a00896_a3aea6b9a9647d15db0dad4be820fbba9_cgraph"> 318<area shape="rect" id="node2" href="a00887.html#a54f510d9d257d6063412a9ed5adddd6f" title="function sets the 3x3 matrix A to the identity matrix " alt="" coords="259,5,367,32"/> 319</map> 320</div> 321<div class="dynheader"> 322Here is the caller graph for this function:</div> 323<div class="dyncontent"> 324<div class="center"><img src="a00896_a3aea6b9a9647d15db0dad4be820fbba9_icgraph.png" border="0" usemap="#a00896_a3aea6b9a9647d15db0dad4be820fbba9_icgraph" alt=""/></div> 325<map name="a00896_a3aea6b9a9647d15db0dad4be820fbba9_icgraph" id="a00896_a3aea6b9a9647d15db0dad4be820fbba9_icgraph"> 326<area shape="rect" id="node2" href="a00848.html#adc49d74394c2a94a33ff65edea18233b" title="fInit_3DOF_B_BASIC" alt="" coords="259,5,404,32"/> 327<area shape="rect" id="node3" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="452,31,603,57"/> 328</map> 329</div> 330 331</div> 332</div> 333<a id="a79e9bfb4c86c1cd82b83058afd08df10"></a> 334<h2 class="memtitle"><span class="permalink"><a href="#a79e9bfb4c86c1cd82b83058afd08df10">◆ </a></span>f3DOFMagnetometerMatrixWin8()</h2> 335 336<div class="memitem"> 337<div class="memproto"> 338 <table class="memname"> 339 <tr> 340 <td class="memname">void f3DOFMagnetometerMatrixWin8 </td> 341 <td>(</td> 342 <td class="paramtype">float </td> 343 <td class="paramname"><em>fR</em>[][3], </td> 344 </tr> 345 <tr> 346 <td class="paramkey"></td> 347 <td></td> 348 <td class="paramtype">float </td> 349 <td class="paramname"><em>fBc</em>[] </td> 350 </tr> 351 <tr> 352 <td></td> 353 <td>)</td> 354 <td></td><td></td> 355 </tr> 356 </table> 357</div><div class="memdoc"> 358 359<p>Windows 8 magnetometer 3DOF flat eCompass function, computing rotation matrix fR. </p> 360<dl class="params"><dt>Parameters</dt><dd> 361 <table class="params"> 362 <tr><td class="paramname">fR</td><td>computed rotation matrix (output) </td></tr> 363 <tr><td class="paramname">fBc</td><td>calibrated magnetometer reading (input) </td></tr> 364 </table> 365 </dd> 366</dl> 367 368<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00259">259</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 369 370<p class="reference">References <a class="el" href="a00896_source.html#l00229">f3DOFMagnetometerMatrixAndroid()</a>.</p> 371 372<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00207">fInit_3DOF_B_BASIC()</a>, and <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>.</p> 373<div class="dynheader"> 374Here is the call graph for this function:</div> 375<div class="dyncontent"> 376<div class="center"><img src="a00896_a79e9bfb4c86c1cd82b83058afd08df10_cgraph.png" border="0" usemap="#a00896_a79e9bfb4c86c1cd82b83058afd08df10_cgraph" alt=""/></div> 377<map name="a00896_a79e9bfb4c86c1cd82b83058afd08df10_cgraph" id="a00896_a79e9bfb4c86c1cd82b83058afd08df10_cgraph"> 378<area shape="rect" id="node2" href="a00896.html#a765e472022e2ba9717989e6527df49a8" title="Android magnetometer 3DOF flat eCompass function, computing rotation matrix fR. " alt="" coords="261,5,484,32"/> 379</map> 380</div> 381<div class="dynheader"> 382Here is the caller graph for this function:</div> 383<div class="dyncontent"> 384<div class="center"><img src="a00896_a79e9bfb4c86c1cd82b83058afd08df10_icgraph.png" border="0" usemap="#a00896_a79e9bfb4c86c1cd82b83058afd08df10_icgraph" alt=""/></div> 385<map name="a00896_a79e9bfb4c86c1cd82b83058afd08df10_icgraph" id="a00896_a79e9bfb4c86c1cd82b83058afd08df10_icgraph"> 386<area shape="rect" id="node2" href="a00848.html#adc49d74394c2a94a33ff65edea18233b" title="fInit_3DOF_B_BASIC" alt="" coords="261,5,407,32"/> 387<area shape="rect" id="node3" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="455,31,605,57"/> 388</map> 389</div> 390 391</div> 392</div> 393<a id="a77eeda9a699b1456bb8b02665ad80522"></a> 394<h2 class="memtitle"><span class="permalink"><a href="#a77eeda9a699b1456bb8b02665ad80522">◆ </a></span>fAndroidAnglesDegFromRotationMatrix()</h2> 395 396<div class="memitem"> 397<div class="memproto"> 398 <table class="memname"> 399 <tr> 400 <td class="memname">void fAndroidAnglesDegFromRotationMatrix </td> 401 <td>(</td> 402 <td class="paramtype">float </td> 403 <td class="paramname"><em>R</em>[][3], </td> 404 </tr> 405 <tr> 406 <td class="paramkey"></td> 407 <td></td> 408 <td class="paramtype">float * </td> 409 <td class="paramname"><em>pfPhiDeg</em>, </td> 410 </tr> 411 <tr> 412 <td class="paramkey"></td> 413 <td></td> 414 <td class="paramtype">float * </td> 415 <td class="paramname"><em>pfTheDeg</em>, </td> 416 </tr> 417 <tr> 418 <td class="paramkey"></td> 419 <td></td> 420 <td class="paramtype">float * </td> 421 <td class="paramname"><em>pfPsiDeg</em>, </td> 422 </tr> 423 <tr> 424 <td class="paramkey"></td> 425 <td></td> 426 <td class="paramtype">float * </td> 427 <td class="paramname"><em>pfRhoDeg</em>, </td> 428 </tr> 429 <tr> 430 <td class="paramkey"></td> 431 <td></td> 432 <td class="paramtype">float * </td> 433 <td class="paramname"><em>pfChiDeg</em> </td> 434 </tr> 435 <tr> 436 <td></td> 437 <td>)</td> 438 <td></td><td></td> 439 </tr> 440 </table> 441</div><div class="memdoc"> 442 443<p>extract the Android angles in degrees from the Android rotation matrix </p> 444<dl class="params"><dt>Parameters</dt><dd> 445 <table class="params"> 446 <tr><td class="paramname">R</td><td>rotation matrix input </td></tr> 447 <tr><td class="paramname">pfPhiDeg</td><td>the roll angle -90.0 <= Phi <= 90.0 deg </td></tr> 448 <tr><td class="paramname">pfTheDeg</td><td>the pitch angle -180.0 <= The < 180.0 deg </td></tr> 449 <tr><td class="paramname">pfPsiDeg</td><td>yaw angle Psi with range 0.0 <= Psi < 360.0 deg </td></tr> 450 <tr><td class="paramname">pfRhoDeg</td><td>the compass heading angle Rho equals the yaw angle Psi </td></tr> 451 <tr><td class="paramname">pfChiDeg</td><td>the tilt angle from vertical Chi (0 <= Chi <= 180 deg) </td></tr> 452 </table> 453 </dd> 454</dl> 455 456<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00548">548</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 457 458<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00761_source.html#l00043">facos_deg()</a>, <a class="el" href="a00761_source.html#l00028">fasin_deg()</a>, and <a class="el" href="a00761_source.html#l00109">fatan2_deg()</a>.</p> 459 460<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 461<div class="dynheader"> 462Here is the call graph for this function:</div> 463<div class="dyncontent"> 464<div class="center"><img src="a00896_a77eeda9a699b1456bb8b02665ad80522_cgraph.png" border="0" usemap="#a00896_a77eeda9a699b1456bb8b02665ad80522_cgraph" alt=""/></div> 465<map name="a00896_a77eeda9a699b1456bb8b02665ad80522_cgraph" id="a00896_a77eeda9a699b1456bb8b02665ad80522_cgraph"> 466<area shape="rect" id="node2" href="a00761.html#a084fe0ff189767dca40fbe330d7394f0" title="facos_deg" alt="" coords="266,5,347,32"/> 467<area shape="rect" id="node3" href="a00761.html#a956336cb9e7270c6cfbf667b1075c063" title="fasin_deg" alt="" coords="268,56,345,83"/> 468<area shape="rect" id="node4" href="a00761.html#aebfdfbd2df0fe4472f9861b0738bb410" title="fatan2_deg" alt="" coords="264,107,349,133"/> 469</map> 470</div> 471<div class="dynheader"> 472Here is the caller graph for this function:</div> 473<div class="dyncontent"> 474<div class="center"><img src="a00896_a77eeda9a699b1456bb8b02665ad80522_icgraph.png" border="0" usemap="#a00896_a77eeda9a699b1456bb8b02665ad80522_icgraph" alt=""/></div> 475<map name="a00896_a77eeda9a699b1456bb8b02665ad80522_icgraph" id="a00896_a77eeda9a699b1456bb8b02665ad80522_icgraph"> 476<area shape="rect" id="node2" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="277,5,427,32"/> 477<area shape="rect" id="node3" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="276,56,428,83"/> 478<area shape="rect" id="node4" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="277,107,427,133"/> 479<area shape="rect" id="node5" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="271,157,433,184"/> 480<area shape="rect" id="node6" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="264,208,440,235"/> 481</map> 482</div> 483 484</div> 485</div> 486<a id="a43ad72cf13f54b0f96355bb7005b6872"></a> 487<h2 class="memtitle"><span class="permalink"><a href="#a43ad72cf13f54b0f96355bb7005b6872">◆ </a></span>feCompassAndroid()</h2> 488 489<div class="memitem"> 490<div class="memproto"> 491 <table class="memname"> 492 <tr> 493 <td class="memname">void feCompassAndroid </td> 494 <td>(</td> 495 <td class="paramtype">float </td> 496 <td class="paramname"><em>fR</em>[][3], </td> 497 </tr> 498 <tr> 499 <td class="paramkey"></td> 500 <td></td> 501 <td class="paramtype">float * </td> 502 <td class="paramname"><em>pfDelta</em>, </td> 503 </tr> 504 <tr> 505 <td class="paramkey"></td> 506 <td></td> 507 <td class="paramtype">float * </td> 508 <td class="paramname"><em>pfsinDelta</em>, </td> 509 </tr> 510 <tr> 511 <td class="paramkey"></td> 512 <td></td> 513 <td class="paramtype">float * </td> 514 <td class="paramname"><em>pfcosDelta</em>, </td> 515 </tr> 516 <tr> 517 <td class="paramkey"></td> 518 <td></td> 519 <td class="paramtype">float </td> 520 <td class="paramname"><em>fBc</em>[], </td> 521 </tr> 522 <tr> 523 <td class="paramkey"></td> 524 <td></td> 525 <td class="paramtype">float </td> 526 <td class="paramname"><em>fGc</em>[], </td> 527 </tr> 528 <tr> 529 <td class="paramkey"></td> 530 <td></td> 531 <td class="paramtype">float * </td> 532 <td class="paramname"><em>pfmodBc</em>, </td> 533 </tr> 534 <tr> 535 <td class="paramkey"></td> 536 <td></td> 537 <td class="paramtype">float * </td> 538 <td class="paramname"><em>pfmodGc</em> </td> 539 </tr> 540 <tr> 541 <td></td> 542 <td>)</td> 543 <td></td><td></td> 544 </tr> 545 </table> 546</div><div class="memdoc"> 547 548<p>Android: basic 6DOF e-Compass function, computing rotation matrix fR and magnetic inclination angle fDelta. </p> 549<dl class="params"><dt>Parameters</dt><dd> 550 <table class="params"> 551 <tr><td class="paramname">fR</td><td>computed rotation matrix (output) </td></tr> 552 <tr><td class="paramname">pfDelta</td><td>magnetic inclination angle (output) </td></tr> 553 <tr><td class="paramname">pfsinDelta</td><td>sin of the inclination angle </td></tr> 554 <tr><td class="paramname">pfcosDelta</td><td>cos of the inclination angle </td></tr> 555 <tr><td class="paramname">fBc</td><td>calibrated magnetometer reading (input) </td></tr> 556 <tr><td class="paramname">fGc</td><td>calibrated accelerometer input vector (input) </td></tr> 557 <tr><td class="paramname">pfmodBc</td><td>modulus of the calibrated magnetic vector </td></tr> 558 <tr><td class="paramname">pfmodGc</td><td>modulus of the calibrated accelerometer vector </td></tr> 559 </table> 560 </dd> 561</dl> 562 563<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00343">343</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 564 565<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00887_source.html#l00027">f3x3matrixAeqI()</a>, and <a class="el" href="a00761_source.html#l00028">fasin_deg()</a>.</p> 566 567<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00250">fInit_6DOF_GB_BASIC()</a>, <a class="el" href="a00845_source.html#l00346">fInit_9DOF_GBY_KALMAN()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 568<div class="dynheader"> 569Here is the call graph for this function:</div> 570<div class="dyncontent"> 571<div class="center"><img src="a00896_a43ad72cf13f54b0f96355bb7005b6872_cgraph.png" border="0" usemap="#a00896_a43ad72cf13f54b0f96355bb7005b6872_cgraph" alt=""/></div> 572<map name="a00896_a43ad72cf13f54b0f96355bb7005b6872_cgraph" id="a00896_a43ad72cf13f54b0f96355bb7005b6872_cgraph"> 573<area shape="rect" id="node2" href="a00887.html#a54f510d9d257d6063412a9ed5adddd6f" title="function sets the 3x3 matrix A to the identity matrix " alt="" coords="184,5,292,32"/> 574<area shape="rect" id="node3" href="a00761.html#a956336cb9e7270c6cfbf667b1075c063" title="fasin_deg" alt="" coords="199,56,277,83"/> 575</map> 576</div> 577<div class="dynheader"> 578Here is the caller graph for this function:</div> 579<div class="dyncontent"> 580<div class="center"><img src="a00896_a43ad72cf13f54b0f96355bb7005b6872_icgraph.png" border="0" usemap="#a00896_a43ad72cf13f54b0f96355bb7005b6872_icgraph" alt=""/></div> 581<map name="a00896_a43ad72cf13f54b0f96355bb7005b6872_icgraph" id="a00896_a43ad72cf13f54b0f96355bb7005b6872_icgraph"> 582<area shape="rect" id="node2" href="a00848.html#ab5f459ab0c8c9b4123e2fb33f5061332" title="fInit_6DOF_GB_BASIC" alt="" coords="196,5,351,32"/> 583<area shape="rect" id="node3" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="418,44,579,71"/> 584<area shape="rect" id="node4" href="a00848.html#a5627f82d4cbb9af1102d10ad1bea3699" title="fInit_9DOF_GBY_KALMAN" alt="" coords="184,107,363,133"/> 585<area shape="rect" id="node5" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="411,120,587,147"/> 586</map> 587</div> 588 589</div> 590</div> 591<a id="afcde979fba0bcae15591096fe68648c9"></a> 592<h2 class="memtitle"><span class="permalink"><a href="#afcde979fba0bcae15591096fe68648c9">◆ </a></span>feCompassNED()</h2> 593 594<div class="memitem"> 595<div class="memproto"> 596 <table class="memname"> 597 <tr> 598 <td class="memname">void feCompassNED </td> 599 <td>(</td> 600 <td class="paramtype">float </td> 601 <td class="paramname"><em>fR</em>[][3], </td> 602 </tr> 603 <tr> 604 <td class="paramkey"></td> 605 <td></td> 606 <td class="paramtype">float * </td> 607 <td class="paramname"><em>pfDelta</em>, </td> 608 </tr> 609 <tr> 610 <td class="paramkey"></td> 611 <td></td> 612 <td class="paramtype">float * </td> 613 <td class="paramname"><em>pfsinDelta</em>, </td> 614 </tr> 615 <tr> 616 <td class="paramkey"></td> 617 <td></td> 618 <td class="paramtype">float * </td> 619 <td class="paramname"><em>pfcosDelta</em>, </td> 620 </tr> 621 <tr> 622 <td class="paramkey"></td> 623 <td></td> 624 <td class="paramtype">float </td> 625 <td class="paramname"><em>fBc</em>[], </td> 626 </tr> 627 <tr> 628 <td class="paramkey"></td> 629 <td></td> 630 <td class="paramtype">float </td> 631 <td class="paramname"><em>fGc</em>[], </td> 632 </tr> 633 <tr> 634 <td class="paramkey"></td> 635 <td></td> 636 <td class="paramtype">float * </td> 637 <td class="paramname"><em>pfmodBc</em>, </td> 638 </tr> 639 <tr> 640 <td class="paramkey"></td> 641 <td></td> 642 <td class="paramtype">float * </td> 643 <td class="paramname"><em>pfmodGc</em> </td> 644 </tr> 645 <tr> 646 <td></td> 647 <td>)</td> 648 <td></td><td></td> 649 </tr> 650 </table> 651</div><div class="memdoc"> 652 653<p>NED: basic 6DOF e-Compass function, computing rotation matrix fR and magnetic inclination angle fDelta. </p> 654<dl class="params"><dt>Parameters</dt><dd> 655 <table class="params"> 656 <tr><td class="paramname">fR</td><td>computed rotation matrix (output) </td></tr> 657 <tr><td class="paramname">pfDelta</td><td>magnetic inclination angle (output) </td></tr> 658 <tr><td class="paramname">pfsinDelta</td><td>sin of the inclination angle </td></tr> 659 <tr><td class="paramname">pfcosDelta</td><td>cos of the inclination angle </td></tr> 660 <tr><td class="paramname">fBc</td><td>calibrated magnetometer vector (input) </td></tr> 661 <tr><td class="paramname">fGc</td><td>calibrated accelerometer input vector (input) </td></tr> 662 <tr><td class="paramname">pfmodBc</td><td>modulus of the calibrated magnetic vector </td></tr> 663 <tr><td class="paramname">pfmodGc</td><td>modulus of the calibrated accelerometer vector </td></tr> 664 </table> 665 </dd> 666</dl> 667 668<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00270">270</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 669 670<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00887_source.html#l00027">f3x3matrixAeqI()</a>, and <a class="el" href="a00761_source.html#l00028">fasin_deg()</a>.</p> 671 672<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00250">fInit_6DOF_GB_BASIC()</a>, <a class="el" href="a00845_source.html#l00346">fInit_9DOF_GBY_KALMAN()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 673<div class="dynheader"> 674Here is the call graph for this function:</div> 675<div class="dyncontent"> 676<div class="center"><img src="a00896_afcde979fba0bcae15591096fe68648c9_cgraph.png" border="0" usemap="#a00896_afcde979fba0bcae15591096fe68648c9_cgraph" alt=""/></div> 677<map name="a00896_afcde979fba0bcae15591096fe68648c9_cgraph" id="a00896_afcde979fba0bcae15591096fe68648c9_cgraph"> 678<area shape="rect" id="node2" href="a00887.html#a54f510d9d257d6063412a9ed5adddd6f" title="function sets the 3x3 matrix A to the identity matrix " alt="" coords="168,5,276,32"/> 679<area shape="rect" id="node3" href="a00761.html#a956336cb9e7270c6cfbf667b1075c063" title="fasin_deg" alt="" coords="183,56,261,83"/> 680</map> 681</div> 682<div class="dynheader"> 683Here is the caller graph for this function:</div> 684<div class="dyncontent"> 685<div class="center"><img src="a00896_afcde979fba0bcae15591096fe68648c9_icgraph.png" border="0" usemap="#a00896_afcde979fba0bcae15591096fe68648c9_icgraph" alt=""/></div> 686<map name="a00896_afcde979fba0bcae15591096fe68648c9_icgraph" id="a00896_afcde979fba0bcae15591096fe68648c9_icgraph"> 687<area shape="rect" id="node2" href="a00848.html#ab5f459ab0c8c9b4123e2fb33f5061332" title="fInit_6DOF_GB_BASIC" alt="" coords="180,5,335,32"/> 688<area shape="rect" id="node3" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="402,44,563,71"/> 689<area shape="rect" id="node4" href="a00848.html#a5627f82d4cbb9af1102d10ad1bea3699" title="fInit_9DOF_GBY_KALMAN" alt="" coords="168,107,347,133"/> 690<area shape="rect" id="node5" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="395,120,571,147"/> 691</map> 692</div> 693 694</div> 695</div> 696<a id="aabc044b27a0cdd7db677c3203b77de90"></a> 697<h2 class="memtitle"><span class="permalink"><a href="#aabc044b27a0cdd7db677c3203b77de90">◆ </a></span>feCompassWin8()</h2> 698 699<div class="memitem"> 700<div class="memproto"> 701 <table class="memname"> 702 <tr> 703 <td class="memname">void feCompassWin8 </td> 704 <td>(</td> 705 <td class="paramtype">float </td> 706 <td class="paramname"><em>fR</em>[][3], </td> 707 </tr> 708 <tr> 709 <td class="paramkey"></td> 710 <td></td> 711 <td class="paramtype">float * </td> 712 <td class="paramname"><em>pfDelta</em>, </td> 713 </tr> 714 <tr> 715 <td class="paramkey"></td> 716 <td></td> 717 <td class="paramtype">float * </td> 718 <td class="paramname"><em>pfsinDelta</em>, </td> 719 </tr> 720 <tr> 721 <td class="paramkey"></td> 722 <td></td> 723 <td class="paramtype">float * </td> 724 <td class="paramname"><em>pfcosDelta</em>, </td> 725 </tr> 726 <tr> 727 <td class="paramkey"></td> 728 <td></td> 729 <td class="paramtype">float </td> 730 <td class="paramname"><em>fBc</em>[], </td> 731 </tr> 732 <tr> 733 <td class="paramkey"></td> 734 <td></td> 735 <td class="paramtype">float </td> 736 <td class="paramname"><em>fGc</em>[], </td> 737 </tr> 738 <tr> 739 <td class="paramkey"></td> 740 <td></td> 741 <td class="paramtype">float * </td> 742 <td class="paramname"><em>pfmodBc</em>, </td> 743 </tr> 744 <tr> 745 <td class="paramkey"></td> 746 <td></td> 747 <td class="paramtype">float * </td> 748 <td class="paramname"><em>pfmodGc</em> </td> 749 </tr> 750 <tr> 751 <td></td> 752 <td>)</td> 753 <td></td><td></td> 754 </tr> 755 </table> 756</div><div class="memdoc"> 757 758<p>Win8: basic 6DOF e-Compass function, computing rotation matrix fR and magnetic inclination angle fDelta. </p> 759<dl class="params"><dt>Parameters</dt><dd> 760 <table class="params"> 761 <tr><td class="paramname">fR</td><td>computed rotation matrix (output) </td></tr> 762 <tr><td class="paramname">pfDelta</td><td>magnetic inclination angle (output) </td></tr> 763 <tr><td class="paramname">pfsinDelta</td><td>sin of the inclination angle </td></tr> 764 <tr><td class="paramname">pfcosDelta</td><td>cos of the inclination angle </td></tr> 765 <tr><td class="paramname">fBc</td><td>calibrated magnetometer reading (input) </td></tr> 766 <tr><td class="paramname">fGc</td><td>calibrated accelerometer input vector (input) </td></tr> 767 <tr><td class="paramname">pfmodBc</td><td>modulus of the calibrated magnetic vector </td></tr> 768 <tr><td class="paramname">pfmodGc</td><td>modulus of the calibrated accelerometer vector </td></tr> 769 </table> 770 </dd> 771</dl> 772 773<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00417">417</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 774 775<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00887_source.html#l00027">f3x3matrixAeqI()</a>, and <a class="el" href="a00761_source.html#l00028">fasin_deg()</a>.</p> 776 777<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00250">fInit_6DOF_GB_BASIC()</a>, <a class="el" href="a00845_source.html#l00346">fInit_9DOF_GBY_KALMAN()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 778<div class="dynheader"> 779Here is the call graph for this function:</div> 780<div class="dyncontent"> 781<div class="center"><img src="a00896_aabc044b27a0cdd7db677c3203b77de90_cgraph.png" border="0" usemap="#a00896_aabc044b27a0cdd7db677c3203b77de90_cgraph" alt=""/></div> 782<map name="a00896_aabc044b27a0cdd7db677c3203b77de90_cgraph" id="a00896_aabc044b27a0cdd7db677c3203b77de90_cgraph"> 783<area shape="rect" id="node2" href="a00887.html#a54f510d9d257d6063412a9ed5adddd6f" title="function sets the 3x3 matrix A to the identity matrix " alt="" coords="171,5,279,32"/> 784<area shape="rect" id="node3" href="a00761.html#a956336cb9e7270c6cfbf667b1075c063" title="fasin_deg" alt="" coords="186,56,263,83"/> 785</map> 786</div> 787<div class="dynheader"> 788Here is the caller graph for this function:</div> 789<div class="dyncontent"> 790<div class="center"><img src="a00896_aabc044b27a0cdd7db677c3203b77de90_icgraph.png" border="0" usemap="#a00896_aabc044b27a0cdd7db677c3203b77de90_icgraph" alt=""/></div> 791<map name="a00896_aabc044b27a0cdd7db677c3203b77de90_icgraph" id="a00896_aabc044b27a0cdd7db677c3203b77de90_icgraph"> 792<area shape="rect" id="node2" href="a00848.html#ab5f459ab0c8c9b4123e2fb33f5061332" title="fInit_6DOF_GB_BASIC" alt="" coords="183,5,337,32"/> 793<area shape="rect" id="node3" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="405,44,566,71"/> 794<area shape="rect" id="node4" href="a00848.html#a5627f82d4cbb9af1102d10ad1bea3699" title="fInit_9DOF_GBY_KALMAN" alt="" coords="171,107,349,133"/> 795<area shape="rect" id="node5" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="397,120,573,147"/> 796</map> 797</div> 798 799</div> 800</div> 801<a id="ad60a32e44f24a4b8fa5bddfb23721bc8"></a> 802<h2 class="memtitle"><span class="permalink"><a href="#ad60a32e44f24a4b8fa5bddfb23721bc8">◆ </a></span>fLPFOrientationQuaternion()</h2> 803 804<div class="memitem"> 805<div class="memproto"> 806 <table class="memname"> 807 <tr> 808 <td class="memname">void fLPFOrientationQuaternion </td> 809 <td>(</td> 810 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 811 <td class="paramname"><em>pq</em>, </td> 812 </tr> 813 <tr> 814 <td class="paramkey"></td> 815 <td></td> 816 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 817 <td class="paramname"><em>pLPq</em>, </td> 818 </tr> 819 <tr> 820 <td class="paramkey"></td> 821 <td></td> 822 <td class="paramtype">float </td> 823 <td class="paramname"><em>flpf</em>, </td> 824 </tr> 825 <tr> 826 <td class="paramkey"></td> 827 <td></td> 828 <td class="paramtype">float </td> 829 <td class="paramname"><em>fdeltat</em>, </td> 830 </tr> 831 <tr> 832 <td class="paramkey"></td> 833 <td></td> 834 <td class="paramtype">float </td> 835 <td class="paramname"><em>fOmega</em>[] </td> 836 </tr> 837 <tr> 838 <td></td> 839 <td>)</td> 840 <td></td><td></td> 841 </tr> 842 </table> 843</div><div class="memdoc"> 844 845<p>function low pass filters an orientation quaternion and computes virtual gyro rotation rate </p> 846 847<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00896">896</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 848 849<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00896_source.html#l00983">fqAeqNormqA()</a>, <a class="el" href="a00896_source.html#l00846">fRotationVectorDegFromQuaternion()</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>, <a class="el" href="a00896_source.html#l00953">qAeqAxB()</a>, and <a class="el" href="a00896_source.html#l00970">qconjgAxB()</a>.</p> 850 851<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, and <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>.</p> 852<div class="dynheader"> 853Here is the call graph for this function:</div> 854<div class="dyncontent"> 855<div class="center"><img src="a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_cgraph.png" border="0" usemap="#a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_cgraph" alt=""/></div> 856<map name="a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_cgraph" id="a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_cgraph"> 857<area shape="rect" id="node2" href="a00896.html#a3bcc5aef9bd7abd545d33660aa3ccbd0" title="function normalizes a rotation quaternion and ensures q0 is non-negative " alt="" coords="290,5,393,32"/> 858<area shape="rect" id="node3" href="a00896.html#aa48ae334cf6bbedf2b9e7423d17cb4ac" title="computes rotation vector (deg) from rotation quaternion " alt="" coords="228,56,455,83"/> 859<area shape="rect" id="node4" href="a00896.html#a22a32becfcb162db012f41ff4f3bc942" title="function compute the quaternion product qA = qA * qB " alt="" coords="303,107,380,133"/> 860<area shape="rect" id="node5" href="a00896.html#adb2ea2734ac13ca77b3218d761fe45e0" title="function compute the quaternion product conjg(qA) * qB " alt="" coords="299,157,384,184"/> 861</map> 862</div> 863<div class="dynheader"> 864Here is the caller graph for this function:</div> 865<div class="dyncontent"> 866<div class="center"><img src="a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_icgraph.png" border="0" usemap="#a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_icgraph" alt=""/></div> 867<map name="a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_icgraph" id="a00896_ad60a32e44f24a4b8fa5bddfb23721bc8_icgraph"> 868<area shape="rect" id="node2" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="233,5,384,32"/> 869<area shape="rect" id="node3" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="233,56,385,83"/> 870<area shape="rect" id="node4" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="228,107,389,133"/> 871</map> 872</div> 873 874</div> 875</div> 876<a id="aa781ea4b9430531df4697d3cb39f7454"></a> 877<h2 class="memtitle"><span class="permalink"><a href="#aa781ea4b9430531df4697d3cb39f7454">◆ </a></span>fNEDAnglesDegFromRotationMatrix()</h2> 878 879<div class="memitem"> 880<div class="memproto"> 881 <table class="memname"> 882 <tr> 883 <td class="memname">void fNEDAnglesDegFromRotationMatrix </td> 884 <td>(</td> 885 <td class="paramtype">float </td> 886 <td class="paramname"><em>R</em>[][3], </td> 887 </tr> 888 <tr> 889 <td class="paramkey"></td> 890 <td></td> 891 <td class="paramtype">float * </td> 892 <td class="paramname"><em>pfPhiDeg</em>, </td> 893 </tr> 894 <tr> 895 <td class="paramkey"></td> 896 <td></td> 897 <td class="paramtype">float * </td> 898 <td class="paramname"><em>pfTheDeg</em>, </td> 899 </tr> 900 <tr> 901 <td class="paramkey"></td> 902 <td></td> 903 <td class="paramtype">float * </td> 904 <td class="paramname"><em>pfPsiDeg</em>, </td> 905 </tr> 906 <tr> 907 <td class="paramkey"></td> 908 <td></td> 909 <td class="paramtype">float * </td> 910 <td class="paramname"><em>pfRhoDeg</em>, </td> 911 </tr> 912 <tr> 913 <td class="paramkey"></td> 914 <td></td> 915 <td class="paramtype">float * </td> 916 <td class="paramname"><em>pfChiDeg</em> </td> 917 </tr> 918 <tr> 919 <td></td> 920 <td>)</td> 921 <td></td><td></td> 922 </tr> 923 </table> 924</div><div class="memdoc"> 925 926<p>extract the NED angles in degrees from the NED rotation matrix </p> 927<dl class="params"><dt>Parameters</dt><dd> 928 <table class="params"> 929 <tr><td class="paramname">R</td><td>rotation matrix input </td></tr> 930 <tr><td class="paramname">pfPhiDeg</td><td>output: the roll angle range -180.0 <= Phi < 180.0 deg </td></tr> 931 <tr><td class="paramname">pfTheDeg</td><td>output: the pitch angle -90.0 <= Theta <= 90.0 deg </td></tr> 932 <tr><td class="paramname">pfPsiDeg</td><td>output: the yaw (compass) angle 0.0 <= Psi < 360.0 deg </td></tr> 933 <tr><td class="paramname">pfRhoDeg</td><td>output: For NED, the compass heading Rho equals the yaw angle Psi </td></tr> 934 <tr><td class="paramname">pfChiDeg</td><td>output: the tilt angle from vertical Chi (0 <= Chi <= 180 deg) </td></tr> 935 </table> 936 </dd> 937</dl> 938 939<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00492">492</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 940 941<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00761_source.html#l00043">facos_deg()</a>, <a class="el" href="a00761_source.html#l00028">fasin_deg()</a>, and <a class="el" href="a00761_source.html#l00109">fatan2_deg()</a>.</p> 942 943<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 944<div class="dynheader"> 945Here is the call graph for this function:</div> 946<div class="dyncontent"> 947<div class="center"><img src="a00896_aa781ea4b9430531df4697d3cb39f7454_cgraph.png" border="0" usemap="#a00896_aa781ea4b9430531df4697d3cb39f7454_cgraph" alt=""/></div> 948<map name="a00896_aa781ea4b9430531df4697d3cb39f7454_cgraph" id="a00896_aa781ea4b9430531df4697d3cb39f7454_cgraph"> 949<area shape="rect" id="node2" href="a00761.html#a084fe0ff189767dca40fbe330d7394f0" title="facos_deg" alt="" coords="249,5,330,32"/> 950<area shape="rect" id="node3" href="a00761.html#a956336cb9e7270c6cfbf667b1075c063" title="fasin_deg" alt="" coords="251,56,328,83"/> 951<area shape="rect" id="node4" href="a00761.html#aebfdfbd2df0fe4472f9861b0738bb410" title="fatan2_deg" alt="" coords="247,107,332,133"/> 952</map> 953</div> 954<div class="dynheader"> 955Here is the caller graph for this function:</div> 956<div class="dyncontent"> 957<div class="center"><img src="a00896_aa781ea4b9430531df4697d3cb39f7454_icgraph.png" border="0" usemap="#a00896_aa781ea4b9430531df4697d3cb39f7454_icgraph" alt=""/></div> 958<map name="a00896_aa781ea4b9430531df4697d3cb39f7454_icgraph" id="a00896_aa781ea4b9430531df4697d3cb39f7454_icgraph"> 959<area shape="rect" id="node2" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="259,5,410,32"/> 960<area shape="rect" id="node3" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="259,56,411,83"/> 961<area shape="rect" id="node4" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="259,107,410,133"/> 962<area shape="rect" id="node5" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="254,157,415,184"/> 963<area shape="rect" id="node6" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="247,208,423,235"/> 964</map> 965</div> 966 967</div> 968</div> 969<a id="a624e56625ef65d6af54643c866a6c64c"></a> 970<h2 class="memtitle"><span class="permalink"><a href="#a624e56625ef65d6af54643c866a6c64c">◆ </a></span>fqAeq1()</h2> 971 972<div class="memitem"> 973<div class="memproto"> 974 <table class="memname"> 975 <tr> 976 <td class="memname">void fqAeq1 </td> 977 <td>(</td> 978 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 979 <td class="paramname"><em>pqA</em></td><td>)</td> 980 <td></td> 981 </tr> 982 </table> 983</div><div class="memdoc"> 984 985<p>set a quaternion to the unit quaternion </p> 986 987<p class="definition">Definition at line <a class="el" href="a00896_source.html#l01018">1018</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 988 989<p class="reference">References <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 990 991<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00235">fInit_3DOF_Y_BASIC()</a>.</p> 992<div class="dynheader"> 993Here is the caller graph for this function:</div> 994<div class="dyncontent"> 995<div class="center"><img src="a00896_a624e56625ef65d6af54643c866a6c64c_icgraph.png" border="0" usemap="#a00896_a624e56625ef65d6af54643c866a6c64c_icgraph" alt=""/></div> 996<map name="a00896_a624e56625ef65d6af54643c866a6c64c_icgraph" id="a00896_a624e56625ef65d6af54643c866a6c64c_icgraph"> 997<area shape="rect" id="node2" href="a00848.html#a0d585ddb24fa91e8d18228bee7a9539c" title="fInit_3DOF_Y_BASIC" alt="" coords="116,5,261,32"/> 998</map> 999</div> 1000 1001</div> 1002</div> 1003<a id="a3bcc5aef9bd7abd545d33660aa3ccbd0"></a> 1004<h2 class="memtitle"><span class="permalink"><a href="#a3bcc5aef9bd7abd545d33660aa3ccbd0">◆ </a></span>fqAeqNormqA()</h2> 1005 1006<div class="memitem"> 1007<div class="memproto"> 1008 <table class="memname"> 1009 <tr> 1010 <td class="memname">void fqAeqNormqA </td> 1011 <td>(</td> 1012 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1013 <td class="paramname"><em>pqA</em></td><td>)</td> 1014 <td></td> 1015 </tr> 1016 </table> 1017</div><div class="memdoc"> 1018 1019<p>function normalizes a rotation quaternion and ensures q0 is non-negative </p> 1020 1021<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00983">983</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1022 1023<p class="reference">References <a class="el" href="a00896_source.html#l00036">CORRUPTQUAT</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1024 1025<p class="reference">Referenced by <a class="el" href="a00896_source.html#l00896">fLPFOrientationQuaternion()</a>, <a class="el" href="a00896_source.html#l00765">fQuaternionFromRotationMatrix()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1026<div class="dynheader"> 1027Here is the caller graph for this function:</div> 1028<div class="dyncontent"> 1029<div class="center"><img src="a00896_a3bcc5aef9bd7abd545d33660aa3ccbd0_icgraph.png" border="0" usemap="#a00896_a3bcc5aef9bd7abd545d33660aa3ccbd0_icgraph" alt=""/></div> 1030<map name="a00896_a3bcc5aef9bd7abd545d33660aa3ccbd0_icgraph" id="a00896_a3bcc5aef9bd7abd545d33660aa3ccbd0_icgraph"> 1031<area shape="rect" id="node2" href="a00899.html#ad60a32e44f24a4b8fa5bddfb23721bc8" title="function low pass filters an orientation quaternion and computes virtual gyro rotation rate ..." alt="" coords="170,5,345,32"/> 1032<area shape="rect" id="node3" href="a00899.html#a04da5468213c1687c5b3485f15af288e" title="compute the orientation quaternion from a 3x3 rotation matrix " alt="" coords="156,56,359,83"/> 1033<area shape="rect" id="node4" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="407,81,583,108"/> 1034<area shape="rect" id="node5" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="182,157,333,184"/> 1035</map> 1036</div> 1037 1038</div> 1039</div> 1040<a id="a04da5468213c1687c5b3485f15af288e"></a> 1041<h2 class="memtitle"><span class="permalink"><a href="#a04da5468213c1687c5b3485f15af288e">◆ </a></span>fQuaternionFromRotationMatrix()</h2> 1042 1043<div class="memitem"> 1044<div class="memproto"> 1045 <table class="memname"> 1046 <tr> 1047 <td class="memname">void fQuaternionFromRotationMatrix </td> 1048 <td>(</td> 1049 <td class="paramtype">float </td> 1050 <td class="paramname"><em>R</em>[][3], </td> 1051 </tr> 1052 <tr> 1053 <td class="paramkey"></td> 1054 <td></td> 1055 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1056 <td class="paramname"><em>pq</em> </td> 1057 </tr> 1058 <tr> 1059 <td></td> 1060 <td>)</td> 1061 <td></td><td></td> 1062 </tr> 1063 </table> 1064</div><div class="memdoc"> 1065 1066<p>compute the orientation quaternion from a 3x3 rotation matrix </p> 1067<dl class="params"><dt>Parameters</dt><dd> 1068 <table class="params"> 1069 <tr><td class="paramname">R</td><td>Rotation matrix (input) </td></tr> 1070 <tr><td class="paramname">pq</td><td><a class="el" href="a03979.html" title="quaternion structure definition ">Quaternion</a> (output) </td></tr> 1071 </table> 1072 </dd> 1073</dl> 1074 1075<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00765">765</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1076 1077<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00896_source.html#l00983">fqAeqNormqA()</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>, and <a class="el" href="a00896_source.html#l00035">SMALLQ0</a>.</p> 1078 1079<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00207">fInit_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00179">fInit_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00250">fInit_6DOF_GB_BASIC()</a>, <a class="el" href="a00845_source.html#l00282">fInit_6DOF_GY_KALMAN()</a>, <a class="el" href="a00845_source.html#l00346">fInit_9DOF_GBY_KALMAN()</a>, <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1080<div class="dynheader"> 1081Here is the call graph for this function:</div> 1082<div class="dyncontent"> 1083<div class="center"><img src="a00896_a04da5468213c1687c5b3485f15af288e_cgraph.png" border="0" usemap="#a00896_a04da5468213c1687c5b3485f15af288e_cgraph" alt=""/></div> 1084<map name="a00896_a04da5468213c1687c5b3485f15af288e_cgraph" id="a00896_a04da5468213c1687c5b3485f15af288e_cgraph"> 1085<area shape="rect" id="node2" href="a00896.html#a3bcc5aef9bd7abd545d33660aa3ccbd0" title="function normalizes a rotation quaternion and ensures q0 is non-negative " alt="" coords="256,5,359,32"/> 1086</map> 1087</div> 1088<div class="dynheader"> 1089Here is the caller graph for this function:</div> 1090<div class="dyncontent"> 1091<div class="center"><img src="a00896_a04da5468213c1687c5b3485f15af288e_icgraph.png" border="0" usemap="#a00896_a04da5468213c1687c5b3485f15af288e_icgraph" alt=""/></div> 1092<map name="a00896_a04da5468213c1687c5b3485f15af288e_icgraph" id="a00896_a04da5468213c1687c5b3485f15af288e_icgraph"> 1093<area shape="rect" id="node2" href="a00848.html#adc49d74394c2a94a33ff65edea18233b" title="fInit_3DOF_B_BASIC" alt="" coords="273,5,418,32"/> 1094<area shape="rect" id="node3" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="495,31,646,57"/> 1095<area shape="rect" id="node4" href="a00848.html#a41f2c6419c8e0c019e08618283338d21" title="fInit_3DOF_G_BASIC" alt="" coords="272,107,419,133"/> 1096<area shape="rect" id="node5" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="495,132,647,159"/> 1097<area shape="rect" id="node6" href="a00848.html#ab5f459ab0c8c9b4123e2fb33f5061332" title="fInit_6DOF_GB_BASIC" alt="" coords="268,208,423,235"/> 1098<area shape="rect" id="node7" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="490,233,651,260"/> 1099<area shape="rect" id="node8" href="a00848.html#adb837744c0801f50a0890f1385ca5c75" title="fInit_6DOF_GY_KALMAN" alt="" coords="260,309,431,336"/> 1100<area shape="rect" id="node9" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="483,360,659,387"/> 1101<area shape="rect" id="node10" href="a00848.html#a5627f82d4cbb9af1102d10ad1bea3699" title="fInit_9DOF_GBY_KALMAN" alt="" coords="256,411,435,437"/> 1102</map> 1103</div> 1104 1105</div> 1106</div> 1107<a id="a9f946d534fae22e9e68b9f0e2e2822ef"></a> 1108<h2 class="memtitle"><span class="permalink"><a href="#a9f946d534fae22e9e68b9f0e2e2822ef">◆ </a></span>fQuaternionFromRotationVectorDeg()</h2> 1109 1110<div class="memitem"> 1111<div class="memproto"> 1112 <table class="memname"> 1113 <tr> 1114 <td class="memname">void fQuaternionFromRotationVectorDeg </td> 1115 <td>(</td> 1116 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1117 <td class="paramname"><em>pq</em>, </td> 1118 </tr> 1119 <tr> 1120 <td class="paramkey"></td> 1121 <td></td> 1122 <td class="paramtype">const float </td> 1123 <td class="paramname"><em>rvecdeg</em>[], </td> 1124 </tr> 1125 <tr> 1126 <td class="paramkey"></td> 1127 <td></td> 1128 <td class="paramtype">float </td> 1129 <td class="paramname"><em>fscaling</em> </td> 1130 </tr> 1131 <tr> 1132 <td></td> 1133 <td>)</td> 1134 <td></td><td></td> 1135 </tr> 1136 </table> 1137</div><div class="memdoc"> 1138 1139<p>computes normalized rotation quaternion from a rotation vector (deg) </p> 1140<dl class="params"><dt>Parameters</dt><dd> 1141 <table class="params"> 1142 <tr><td class="paramname">pq</td><td>quaternion (output) </td></tr> 1143 <tr><td class="paramname">rvecdeg</td><td>rotation vector in degrees </td></tr> 1144 <tr><td class="paramname">fscaling</td><td>delta Time </td></tr> 1145 </table> 1146 </dd> 1147</dl> 1148 1149<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00697">697</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1150 1151<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00914_source.html#l00083">FPIOVER180</a>, <a class="el" href="a00914_source.html#l00092">ONEOVER3840</a>, <a class="el" href="a00914_source.html#l00090">ONEOVER48</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1152 1153<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1154<div class="dynheader"> 1155Here is the caller graph for this function:</div> 1156<div class="dyncontent"> 1157<div class="center"><img src="a00896_a9f946d534fae22e9e68b9f0e2e2822ef_icgraph.png" border="0" usemap="#a00896_a9f946d534fae22e9e68b9f0e2e2822ef_icgraph" alt=""/></div> 1158<map name="a00896_a9f946d534fae22e9e68b9f0e2e2822ef_icgraph" id="a00896_a9f946d534fae22e9e68b9f0e2e2822ef_icgraph"> 1159<area shape="rect" id="node2" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="293,5,443,32"/> 1160<area shape="rect" id="node3" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="280,56,456,83"/> 1161</map> 1162</div> 1163 1164</div> 1165</div> 1166<a id="ab93a6fd700fd1557e9b8f6796bfe3035"></a> 1167<h2 class="memtitle"><span class="permalink"><a href="#ab93a6fd700fd1557e9b8f6796bfe3035">◆ </a></span>fRotationMatrixFromQuaternion()</h2> 1168 1169<div class="memitem"> 1170<div class="memproto"> 1171 <table class="memname"> 1172 <tr> 1173 <td class="memname">void fRotationMatrixFromQuaternion </td> 1174 <td>(</td> 1175 <td class="paramtype">float </td> 1176 <td class="paramname"><em>R</em>[][3], </td> 1177 </tr> 1178 <tr> 1179 <td class="paramkey"></td> 1180 <td></td> 1181 <td class="paramtype">const <a class="el" href="a03979.html">Quaternion</a> * </td> 1182 <td class="paramname"><em>pq</em> </td> 1183 </tr> 1184 <tr> 1185 <td></td> 1186 <td>)</td> 1187 <td></td><td></td> 1188 </tr> 1189 </table> 1190</div><div class="memdoc"> 1191 1192<p>compute the rotation matrix from an orientation quaternion </p> 1193<dl class="params"><dt>Parameters</dt><dd> 1194 <table class="params"> 1195 <tr><td class="paramname">R</td><td>Rotation matrix (output) </td></tr> 1196 <tr><td class="paramname">pq</td><td><a class="el" href="a03979.html" title="quaternion structure definition ">Quaternion</a> (input) </td></tr> 1197 </table> 1198 </dd> 1199</dl> 1200 1201<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00806">806</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1202 1203<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1204 1205<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1206<div class="dynheader"> 1207Here is the caller graph for this function:</div> 1208<div class="dyncontent"> 1209<div class="center"><img src="a00896_ab93a6fd700fd1557e9b8f6796bfe3035_icgraph.png" border="0" usemap="#a00896_ab93a6fd700fd1557e9b8f6796bfe3035_icgraph" alt=""/></div> 1210<map name="a00896_ab93a6fd700fd1557e9b8f6796bfe3035_icgraph" id="a00896_ab93a6fd700fd1557e9b8f6796bfe3035_icgraph"> 1211<area shape="rect" id="node2" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="269,5,419,32"/> 1212<area shape="rect" id="node3" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="268,56,420,83"/> 1213<area shape="rect" id="node4" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="269,107,419,133"/> 1214<area shape="rect" id="node5" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="263,157,425,184"/> 1215<area shape="rect" id="node6" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="256,208,432,235"/> 1216</map> 1217</div> 1218 1219</div> 1220</div> 1221<a id="aa48ae334cf6bbedf2b9e7423d17cb4ac"></a> 1222<h2 class="memtitle"><span class="permalink"><a href="#aa48ae334cf6bbedf2b9e7423d17cb4ac">◆ </a></span>fRotationVectorDegFromQuaternion()</h2> 1223 1224<div class="memitem"> 1225<div class="memproto"> 1226 <table class="memname"> 1227 <tr> 1228 <td class="memname">void fRotationVectorDegFromQuaternion </td> 1229 <td>(</td> 1230 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1231 <td class="paramname"><em>pq</em>, </td> 1232 </tr> 1233 <tr> 1234 <td class="paramkey"></td> 1235 <td></td> 1236 <td class="paramtype">float </td> 1237 <td class="paramname"><em>rvecdeg</em>[] </td> 1238 </tr> 1239 <tr> 1240 <td></td> 1241 <td>)</td> 1242 <td></td><td></td> 1243 </tr> 1244 </table> 1245</div><div class="memdoc"> 1246 1247<p>computes rotation vector (deg) from rotation quaternion </p> 1248<dl class="params"><dt>Parameters</dt><dd> 1249 <table class="params"> 1250 <tr><td class="paramname">pq</td><td>quaternion (input) </td></tr> 1251 <tr><td class="paramname">rvecdeg</td><td>rotation vector in degrees (output) </td></tr> 1252 </table> 1253 </dd> 1254</dl> 1255 1256<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00846">846</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1257 1258<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00914_source.html#l00084">F180OVERPI</a>, <a class="el" href="a00914_source.html#l00083">FPIOVER180</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1259 1260<p class="reference">Referenced by <a class="el" href="a00896_source.html#l00896">fLPFOrientationQuaternion()</a>, <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1261<div class="dynheader"> 1262Here is the caller graph for this function:</div> 1263<div class="dyncontent"> 1264<div class="center"><img src="a00896_aa48ae334cf6bbedf2b9e7423d17cb4ac_icgraph.png" border="0" usemap="#a00896_aa48ae334cf6bbedf2b9e7423d17cb4ac_icgraph" alt=""/></div> 1265<map name="a00896_aa48ae334cf6bbedf2b9e7423d17cb4ac_icgraph" id="a00896_aa48ae334cf6bbedf2b9e7423d17cb4ac_icgraph"> 1266<area shape="rect" id="node2" href="a00899.html#ad60a32e44f24a4b8fa5bddfb23721bc8" title="function low pass filters an orientation quaternion and computes virtual gyro rotation rate ..." alt="" coords="281,43,455,69"/> 1267<area shape="rect" id="node3" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="509,5,661,32"/> 1268<area shape="rect" id="node4" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="509,81,660,108"/> 1269<area shape="rect" id="node5" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="504,132,665,159"/> 1270<area shape="rect" id="node6" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="293,195,443,221"/> 1271<area shape="rect" id="node7" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="280,245,456,272"/> 1272</map> 1273</div> 1274 1275</div> 1276</div> 1277<a id="a4ced4d83316052e2c97ce2746abdc1e0"></a> 1278<h2 class="memtitle"><span class="permalink"><a href="#a4ced4d83316052e2c97ce2746abdc1e0">◆ </a></span>fveqconjgquq()</h2> 1279 1280<div class="memitem"> 1281<div class="memproto"> 1282 <table class="memname"> 1283 <tr> 1284 <td class="memname">void fveqconjgquq </td> 1285 <td>(</td> 1286 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1287 <td class="paramname"><em>pfq</em>, </td> 1288 </tr> 1289 <tr> 1290 <td class="paramkey"></td> 1291 <td></td> 1292 <td class="paramtype">float </td> 1293 <td class="paramname"><em>fu</em>[], </td> 1294 </tr> 1295 <tr> 1296 <td class="paramkey"></td> 1297 <td></td> 1298 <td class="paramtype">float </td> 1299 <td class="paramname"><em>fv</em>[] </td> 1300 </tr> 1301 <tr> 1302 <td></td> 1303 <td>)</td> 1304 <td></td><td></td> 1305 </tr> 1306 </table> 1307</div><div class="memdoc"> 1308<p>function computes the rotation quaternion that rotates unit vector u onto unit vector v as v=q*.u.q using q = 1/sqrt(2) * {sqrt(1 + u.v) - u x v / sqrt(1 + u.v)} </p> 1309 1310<p class="definition">Definition at line <a class="el" href="a00896_source.html#l01028">1028</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1311 1312<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00914_source.html#l00093">ONEOVERSQRT2</a>, <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1313 1314<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1315<div class="dynheader"> 1316Here is the caller graph for this function:</div> 1317<div class="dyncontent"> 1318<div class="center"><img src="a00896_a4ced4d83316052e2c97ce2746abdc1e0_icgraph.png" border="0" usemap="#a00896_a4ced4d83316052e2c97ce2746abdc1e0_icgraph" alt=""/></div> 1319<map name="a00896_a4ced4d83316052e2c97ce2746abdc1e0_icgraph" id="a00896_a4ced4d83316052e2c97ce2746abdc1e0_icgraph"> 1320<area shape="rect" id="node2" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="149,5,325,32"/> 1321</map> 1322</div> 1323 1324</div> 1325</div> 1326<a id="a13cd93780206a620abc7bdf7907e6dc6"></a> 1327<h2 class="memtitle"><span class="permalink"><a href="#a13cd93780206a620abc7bdf7907e6dc6">◆ </a></span>fWin8AnglesDegFromRotationMatrix()</h2> 1328 1329<div class="memitem"> 1330<div class="memproto"> 1331 <table class="memname"> 1332 <tr> 1333 <td class="memname">void fWin8AnglesDegFromRotationMatrix </td> 1334 <td>(</td> 1335 <td class="paramtype">float </td> 1336 <td class="paramname"><em>R</em>[][3], </td> 1337 </tr> 1338 <tr> 1339 <td class="paramkey"></td> 1340 <td></td> 1341 <td class="paramtype">float * </td> 1342 <td class="paramname"><em>pfPhiDeg</em>, </td> 1343 </tr> 1344 <tr> 1345 <td class="paramkey"></td> 1346 <td></td> 1347 <td class="paramtype">float * </td> 1348 <td class="paramname"><em>pfTheDeg</em>, </td> 1349 </tr> 1350 <tr> 1351 <td class="paramkey"></td> 1352 <td></td> 1353 <td class="paramtype">float * </td> 1354 <td class="paramname"><em>pfPsiDeg</em>, </td> 1355 </tr> 1356 <tr> 1357 <td class="paramkey"></td> 1358 <td></td> 1359 <td class="paramtype">float * </td> 1360 <td class="paramname"><em>pfRhoDeg</em>, </td> 1361 </tr> 1362 <tr> 1363 <td class="paramkey"></td> 1364 <td></td> 1365 <td class="paramtype">float * </td> 1366 <td class="paramname"><em>pfChiDeg</em> </td> 1367 </tr> 1368 <tr> 1369 <td></td> 1370 <td>)</td> 1371 <td></td><td></td> 1372 </tr> 1373 </table> 1374</div><div class="memdoc"> 1375 1376<p>extract the Windows 8 angles in degrees from the Windows 8 rotation matrix </p> 1377<dl class="params"><dt>Parameters</dt><dd> 1378 <table class="params"> 1379 <tr><td class="paramname">R</td><td>rotation matrix input </td></tr> 1380 <tr><td class="paramname">pfPhiDeg</td><td>the roll angle -90.0 <= Phi <= 90.0 deg </td></tr> 1381 <tr><td class="paramname">pfTheDeg</td><td>pitch angle Theta in the range -180.0 <= The < 180.0 deg </td></tr> 1382 <tr><td class="paramname">pfPsiDeg</td><td>yaw angle Psi in range 0.0 <= Psi < 360.0 deg </td></tr> 1383 <tr><td class="paramname">pfRhoDeg</td><td>the compass angle Rho = 360 - Psi </td></tr> 1384 <tr><td class="paramname">pfChiDeg</td><td>tilt angle from vertical Chi (0 <= Chi <= 180 deg) </td></tr> 1385 </table> 1386 </dd> 1387</dl> 1388 1389<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00605">605</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1390 1391<p class="reference">References <a class="el" href="a00914_source.html#l00060">CHX</a>, <a class="el" href="a00914_source.html#l00061">CHY</a>, <a class="el" href="a00914_source.html#l00062">CHZ</a>, <a class="el" href="a00761_source.html#l00043">facos_deg()</a>, <a class="el" href="a00761_source.html#l00028">fasin_deg()</a>, <a class="el" href="a00761_source.html#l00109">fatan2_deg()</a>, and <a class="el" href="a00761_source.html#l00059">fatan_deg()</a>.</p> 1392 1393<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00489">fRun_3DOF_B_BASIC()</a>, <a class="el" href="a00845_source.html#l00439">fRun_3DOF_G_BASIC()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, <a class="el" href="a00845_source.html#l00582">fRun_6DOF_GB_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1394<div class="dynheader"> 1395Here is the call graph for this function:</div> 1396<div class="dyncontent"> 1397<div class="center"><img src="a00896_a13cd93780206a620abc7bdf7907e6dc6_cgraph.png" border="0" usemap="#a00896_a13cd93780206a620abc7bdf7907e6dc6_cgraph" alt=""/></div> 1398<map name="a00896_a13cd93780206a620abc7bdf7907e6dc6_cgraph" id="a00896_a13cd93780206a620abc7bdf7907e6dc6_cgraph"> 1399<area shape="rect" id="node2" href="a00761.html#a084fe0ff189767dca40fbe330d7394f0" title="facos_deg" alt="" coords="251,5,333,32"/> 1400<area shape="rect" id="node3" href="a00761.html#a09d50b3d2c3d4d24e447a9b960eb5267" title="fatan_deg" alt="" coords="383,81,461,108"/> 1401<area shape="rect" id="node4" href="a00761.html#a956336cb9e7270c6cfbf667b1075c063" title="fasin_deg" alt="" coords="253,107,331,133"/> 1402<area shape="rect" id="node5" href="a00761.html#aebfdfbd2df0fe4472f9861b0738bb410" title="fatan2_deg" alt="" coords="249,157,335,184"/> 1403</map> 1404</div> 1405<div class="dynheader"> 1406Here is the caller graph for this function:</div> 1407<div class="dyncontent"> 1408<div class="center"><img src="a00896_a13cd93780206a620abc7bdf7907e6dc6_icgraph.png" border="0" usemap="#a00896_a13cd93780206a620abc7bdf7907e6dc6_icgraph" alt=""/></div> 1409<map name="a00896_a13cd93780206a620abc7bdf7907e6dc6_icgraph" id="a00896_a13cd93780206a620abc7bdf7907e6dc6_icgraph"> 1410<area shape="rect" id="node2" href="a00848.html#a2df5be5795338038774a64b41cf53a8e" title="fRun_3DOF_B_BASIC" alt="" coords="262,5,413,32"/> 1411<area shape="rect" id="node3" href="a00848.html#a7b5db1923cfa0dc160016e7d9b45b1c2" title="fRun_3DOF_G_BASIC" alt="" coords="261,56,413,83"/> 1412<area shape="rect" id="node4" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="262,107,413,133"/> 1413<area shape="rect" id="node5" href="a00848.html#a34c550860d0e4e42bf22a2a3527043b9" title="fRun_6DOF_GB_BASIC" alt="" coords="257,157,418,184"/> 1414<area shape="rect" id="node6" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="249,208,425,235"/> 1415</map> 1416</div> 1417 1418</div> 1419</div> 1420<a id="a22a32becfcb162db012f41ff4f3bc942"></a> 1421<h2 class="memtitle"><span class="permalink"><a href="#a22a32becfcb162db012f41ff4f3bc942">◆ </a></span>qAeqAxB()</h2> 1422 1423<div class="memitem"> 1424<div class="memproto"> 1425 <table class="memname"> 1426 <tr> 1427 <td class="memname">void qAeqAxB </td> 1428 <td>(</td> 1429 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1430 <td class="paramname"><em>pqA</em>, </td> 1431 </tr> 1432 <tr> 1433 <td class="paramkey"></td> 1434 <td></td> 1435 <td class="paramtype">const <a class="el" href="a03979.html">Quaternion</a> * </td> 1436 <td class="paramname"><em>pqB</em> </td> 1437 </tr> 1438 <tr> 1439 <td></td> 1440 <td>)</td> 1441 <td></td><td></td> 1442 </tr> 1443 </table> 1444</div><div class="memdoc"> 1445 1446<p>function compute the quaternion product qA = qA * qB </p> 1447 1448<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00953">953</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1449 1450<p class="reference">References <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1451 1452<p class="reference">Referenced by <a class="el" href="a00788_source.html#l00036">ApplyPerturbation()</a>, <a class="el" href="a00896_source.html#l00896">fLPFOrientationQuaternion()</a>, <a class="el" href="a00845_source.html#l00534">fRun_3DOF_Y_BASIC()</a>, and <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1453<div class="dynheader"> 1454Here is the caller graph for this function:</div> 1455<div class="dyncontent"> 1456<div class="center"><img src="a00896_a22a32becfcb162db012f41ff4f3bc942_icgraph.png" border="0" usemap="#a00896_a22a32becfcb162db012f41ff4f3bc942_icgraph" alt=""/></div> 1457<map name="a00896_a22a32becfcb162db012f41ff4f3bc942_icgraph" id="a00896_a22a32becfcb162db012f41ff4f3bc942_icgraph"> 1458<area shape="rect" id="node2" href="a00791.html#a4cfb25cf8dddd5b009b793929f32429e" title="ApplyPerturbation" alt="" coords="156,5,281,32"/> 1459<area shape="rect" id="node3" href="a00899.html#ad60a32e44f24a4b8fa5bddfb23721bc8" title="function low pass filters an orientation quaternion and computes virtual gyro rotation rate ..." alt="" coords="131,56,306,83"/> 1460<area shape="rect" id="node4" href="a00848.html#a288f51cd39aeb8ace643d844e219e9d3" title="fRun_3DOF_Y_BASIC" alt="" coords="143,107,294,133"/> 1461<area shape="rect" id="node5" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="131,157,307,184"/> 1462</map> 1463</div> 1464 1465</div> 1466</div> 1467<a id="a12448c36b93d8f3375ce000ef4527b4a"></a> 1468<h2 class="memtitle"><span class="permalink"><a href="#a12448c36b93d8f3375ce000ef4527b4a">◆ </a></span>qAeqBxC()</h2> 1469 1470<div class="memitem"> 1471<div class="memproto"> 1472 <table class="memname"> 1473 <tr> 1474 <td class="memname">void qAeqBxC </td> 1475 <td>(</td> 1476 <td class="paramtype"><a class="el" href="a03979.html">Quaternion</a> * </td> 1477 <td class="paramname"><em>pqA</em>, </td> 1478 </tr> 1479 <tr> 1480 <td class="paramkey"></td> 1481 <td></td> 1482 <td class="paramtype">const <a class="el" href="a03979.html">Quaternion</a> * </td> 1483 <td class="paramname"><em>pqB</em>, </td> 1484 </tr> 1485 <tr> 1486 <td class="paramkey"></td> 1487 <td></td> 1488 <td class="paramtype">const <a class="el" href="a03979.html">Quaternion</a> * </td> 1489 <td class="paramname"><em>pqC</em> </td> 1490 </tr> 1491 <tr> 1492 <td></td> 1493 <td>)</td> 1494 <td></td><td></td> 1495 </tr> 1496 </table> 1497</div><div class="memdoc"> 1498 1499<p>function compute the quaternion product qB * qC </p> 1500 1501<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00942">942</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1502 1503<p class="reference">References <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1504 1505<p class="reference">Referenced by <a class="el" href="a00845_source.html#l00635">fRun_6DOF_GY_KALMAN()</a>.</p> 1506<div class="dynheader"> 1507Here is the caller graph for this function:</div> 1508<div class="dyncontent"> 1509<div class="center"><img src="a00896_a12448c36b93d8f3375ce000ef4527b4a_icgraph.png" border="0" usemap="#a00896_a12448c36b93d8f3375ce000ef4527b4a_icgraph" alt=""/></div> 1510<map name="a00896_a12448c36b93d8f3375ce000ef4527b4a_icgraph" id="a00896_a12448c36b93d8f3375ce000ef4527b4a_icgraph"> 1511<area shape="rect" id="node2" href="a00848.html#a942d619f897d6820d5c148bdc910f962" title="fRun_6DOF_GY_KALMAN" alt="" coords="131,5,307,32"/> 1512</map> 1513</div> 1514 1515</div> 1516</div> 1517<a id="adb2ea2734ac13ca77b3218d761fe45e0"></a> 1518<h2 class="memtitle"><span class="permalink"><a href="#adb2ea2734ac13ca77b3218d761fe45e0">◆ </a></span>qconjgAxB()</h2> 1519 1520<div class="memitem"> 1521<div class="memproto"> 1522 <table class="memname"> 1523 <tr> 1524 <td class="memname"><a class="el" href="a03979.html">Quaternion</a> qconjgAxB </td> 1525 <td>(</td> 1526 <td class="paramtype">const <a class="el" href="a03979.html">Quaternion</a> * </td> 1527 <td class="paramname"><em>pqA</em>, </td> 1528 </tr> 1529 <tr> 1530 <td class="paramkey"></td> 1531 <td></td> 1532 <td class="paramtype">const <a class="el" href="a03979.html">Quaternion</a> * </td> 1533 <td class="paramname"><em>pqB</em> </td> 1534 </tr> 1535 <tr> 1536 <td></td> 1537 <td>)</td> 1538 <td></td><td></td> 1539 </tr> 1540 </table> 1541</div><div class="memdoc"> 1542 1543<p>function compute the quaternion product conjg(qA) * qB </p> 1544 1545<p class="definition">Definition at line <a class="el" href="a00896_source.html#l00970">970</a> of file <a class="el" href="a00896_source.html">orientation.c</a>.</p> 1546 1547<p class="reference">References <a class="el" href="a00899_source.html#l00022">Quaternion::q0</a>, <a class="el" href="a00899_source.html#l00023">Quaternion::q1</a>, <a class="el" href="a00899_source.html#l00024">Quaternion::q2</a>, and <a class="el" href="a00899_source.html#l00025">Quaternion::q3</a>.</p> 1548 1549<p class="reference">Referenced by <a class="el" href="a00896_source.html#l00896">fLPFOrientationQuaternion()</a>.</p> 1550<div class="dynheader"> 1551Here is the caller graph for this function:</div> 1552<div class="dyncontent"> 1553<div class="center"><img src="a00896_adb2ea2734ac13ca77b3218d761fe45e0_icgraph.png" border="0" usemap="#a00896_adb2ea2734ac13ca77b3218d761fe45e0_icgraph" alt=""/></div> 1554<map name="a00896_adb2ea2734ac13ca77b3218d761fe45e0_icgraph" id="a00896_adb2ea2734ac13ca77b3218d761fe45e0_icgraph"> 1555<area shape="rect" id="node2" href="a00899.html#ad60a32e44f24a4b8fa5bddfb23721bc8" title="function low pass filters an orientation quaternion and computes virtual gyro rotation rate ..." alt="" coords="139,5,313,32"/> 1556</map> 1557</div> 1558 1559</div> 1560</div> 1561</div><!-- contents --> 1562 1563<hr class="footer"/><address class="footer"><small> 1564© Copyright 2016-2022 NXP. All Rights Reserved. SPDX-License-Identifier: BSD-3-Clause 1565</small></address> 1566</body> 1567</html> 1568
