General conversions with different coordinate systems. More...

#include <math.h>
#include <stdint.h>
#include "coordinate_conversions.h"
#include "physical_constants.h"

Functions
void	RneFromLLA (float LLA[3], float Rne[3][3])

void	Quaternion2RPY (const float q[4], float rpy[3])

void	RPY2Quaternion (const float rpy[3], float q[4])

void	Quaternion2R (float q[4], float Rbe[3][3])

void	Euler2R (float rpy[3], float Rbe[3][3])

void	R2Quaternion (float R[3][3], float q[4])

uint8_t	RotFrom2Vectors (const float v1b[3], const float v1e[3], const float v2b[3], const float v2e[3], float Rbe[3][3])

void	Rv2Rot (float Rv[3], float R[3][3])

void	CrossProduct (const float v1[3], const float v2[3], float result[3])

float	VectorMagnitude (const float v[3])

void	quat_inverse (float q[4])
	Compute the inverse of a quaternion. More...

void	quat_copy (const float q[4], float qnew[4])
	Duplicate a quaternion. More...

void	quat_mult (const float q1[4], const float q2[4], float qout[4])
	Multiply two quaternions into a third. More...

void	rot_mult (float R[3][3], const float vec[3], float vec_out[3], bool transpose)
	Rotate a vector by a rotation matrix. More...

Detailed Description

General conversions with different coordinate systems.

Author

Functions