coordinate_conversions.h

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef COORDINATECONVERSIONS_H_
#define COORDINATECONVERSIONS_H_

#include <stdbool.h>

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

    // ****** find rotation matrix from rotation vector
void Rv2Rot(float Rv[3], float R[3][3]);

        // ****** find roll, pitch, yaw from quaternion ********
void Quaternion2RPY(const float q[4], float rpy[3]);

        // ****** find quaternion from roll, pitch, yaw ********
void RPY2Quaternion(const float rpy[3], float q[4]);

        //** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
void Quaternion2R(float q[4], float Rbe[3][3]);

//** Find Rbe, that rotates a vector from earth fixed to body frame, from Tait-Bryan angles **
void Euler2R(float rpy[3], float Rbe[3][3]); //WHAT TO DO ABOUT ALL THE CONST? SHOULD EVERY INPUT BE A CONST?

        // ****** convert Rotation Matrix to Quaternion ********
        // ****** if R converts from e to b, q is rotation from e to b ****
void R2Quaternion(float R[3][3], float q[4]);

        // ****** Rotation Matrix from Two Vector Directions ********
        // ****** given two vector directions (v1 and v2) known in two frames (b and e) find Rbe ***
        // ****** solution is approximate if can't be exact ***
uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[3], const float v2e[3], float Rbe[3][3]);

        // ****** Vector Cross Product ********
void CrossProduct(const float v1[3], const float v2[3], float result[3]);

        // ****** Vector Magnitude ********
float VectorMagnitude(const float v[3]);

void quat_inverse(float q[4]);
void quat_copy(const float q[4], float qnew[4]);
void quat_mult(const float q1[4], const float q2[4], float qout[4]);
void rot_mult(float R[3][3], const float vec[3], float vec_out[3], bool transpose);

#endif /* COORDINATECONVERSIONS_H_ */