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spatial_rotations.h
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spatial_rotations.h
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/*
* This file is part of mathlib.
*
* Copyright (C) 2010-2011 Greg Horn <ghorn@stanford.edu>
*
* 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 2
* 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, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*/
/*
* spatial_rotations.h
* Math library spatial rotation related operations.
*/
#ifndef __SPATIAL_ROTATIONS_H__
#define __SPATIAL_ROTATIONS_H__
#include "quat.h"
#include "xyz.h"
#ifndef EULER_T
#define EULER_T
typedef struct euler_t {
double roll;
double pitch;
double yaw;
} euler_t;
#endif // EULER_T
#ifdef __cplusplus
extern "C"{
#endif
void rotate_xyz_about_x( xyz_t * b, const xyz_t * const a, const double rot_angle);
void euler321_of_quat(euler_t *e, const quat_t * const q);
void euler321_of_dcm(euler_t *e, const double * const R);
void quat_of_dcm_a2b(quat_t * q, const double * const R);
void quat_of_dcm_b2a(quat_t * q, const double * const R);
void quat_of_euler321(quat_t * q, const euler_t * const e);
void dcm_of_quat_a2b(double *R_a2b, const quat_t * const q_a2b);
void dcm_of_quat_b2a(double *R_b2a, const quat_t * const q_a2b);
void rot_vec_by_dcm_a2b(xyz_t *vec_b, const double * const R_a2b, const xyz_t * const vec_a);
void rot_vec_by_dcm_b2a(xyz_t *vec_a, const double * const R_a2b, const xyz_t * const vec_b);
void rot_vec_by_quat_a2b(xyz_t *vec_b, const quat_t * const q_a2b, const xyz_t * const vec_a);
void rot_vec_by_quat_b2a(xyz_t *vec_a, const quat_t * const q_a2b, const xyz_t * const vec_b);
void get_wind_angles_from_v_bw_b(double * alpha, double * beta, double * airspeed, const xyz_t * const v_bw_b);
void get_wind_angles( double * alpha,
double * beta,
double * airspeed,
xyz_t * v_bw_b_out,
const quat_t * const q_n2b,
const xyz_t * const v_bn_b,
const xyz_t * const v_wn_n);
void v_bw_b_from_wind_angles( xyz_t * v_bw_b, const double alpha, const double beta, const double airspeed);
#ifdef __cplusplus
}
#endif
#endif // __SPATIAL_ROTATIONS_H__