rotation.h File Reference

Vector rotation library. More...

#include <unistd.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>

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Classes
struct	rot_lookup_t

Enumerations
enum	Rotation {   ROTATION_NONE = 0, ROTATION_YAW_45 = 1, ROTATION_YAW_90 = 2, ROTATION_YAW_135 = 3,   ROTATION_YAW_180 = 4, ROTATION_YAW_225 = 5, ROTATION_YAW_270 = 6, ROTATION_YAW_315 = 7,   ROTATION_ROLL_180 = 8, ROTATION_ROLL_180_YAW_45 = 9, ROTATION_ROLL_180_YAW_90 = 10, ROTATION_ROLL_180_YAW_135 = 11,   ROTATION_PITCH_180 = 12, ROTATION_ROLL_180_YAW_225 = 13, ROTATION_ROLL_180_YAW_270 = 14, ROTATION_ROLL_180_YAW_315 = 15,   ROTATION_ROLL_90 = 16, ROTATION_ROLL_90_YAW_45 = 17, ROTATION_ROLL_90_YAW_90 = 18, ROTATION_ROLL_90_YAW_135 = 19,   ROTATION_ROLL_270 = 20, ROTATION_ROLL_270_YAW_45 = 21, ROTATION_ROLL_270_YAW_90 = 22, ROTATION_ROLL_270_YAW_135 = 23,   ROTATION_PITCH_90 = 24, ROTATION_PITCH_270 = 25, ROTATION_ROLL_270_YAW_270 = 26, ROTATION_ROLL_180_PITCH_270 = 27,   ROTATION_PITCH_90_YAW_180 = 28, ROTATION_PITCH_90_ROLL_90 = 29, ROTATION_YAW_293_PITCH_68_ROLL_90 = 30, ROTATION_PITCH_90_ROLL_270 = 31,   ROTATION_PITCH_9_YAW_180 = 32, ROTATION_PITCH_45 = 33, ROTATION_PITCH_315 = 34, ROTATION_ROLL_90_YAW_270 = 35,   ROTATION_MAX }
	Enum for board and external compass rotations. More...

Functions
__EXPORT matrix::Dcmf	get_rot_matrix (enum Rotation rot)
	Get the rotation matrix. More...
__EXPORT matrix::Quatf	get_rot_quaternion (enum Rotation rot)
	Get the rotation quaternion. More...
__EXPORT void	rotate_3f (enum Rotation rot, float &x, float &y, float &z)
	rotate a 3 element float vector in-place More...

Variables
const rot_lookup_t	rot_lookup []

Detailed Description

Vector rotation library.

Definition in file rotation.h.

Enumeration Type Documentation

Rotation

enum Rotation

Enum for board and external compass rotations.

This enum maps from board attitude to airframe attitude.

Enumerator
ROTATION_NONE
ROTATION_YAW_45
ROTATION_YAW_90
ROTATION_YAW_135
ROTATION_YAW_180
ROTATION_YAW_225
ROTATION_YAW_270
ROTATION_YAW_315
ROTATION_ROLL_180
ROTATION_ROLL_180_YAW_45
ROTATION_ROLL_180_YAW_90
ROTATION_ROLL_180_YAW_135
ROTATION_PITCH_180
ROTATION_ROLL_180_YAW_225
ROTATION_ROLL_180_YAW_270
ROTATION_ROLL_180_YAW_315
ROTATION_ROLL_90
ROTATION_ROLL_90_YAW_45
ROTATION_ROLL_90_YAW_90
ROTATION_ROLL_90_YAW_135
ROTATION_ROLL_270
ROTATION_ROLL_270_YAW_45
ROTATION_ROLL_270_YAW_90
ROTATION_ROLL_270_YAW_135
ROTATION_PITCH_90
ROTATION_PITCH_270
ROTATION_ROLL_270_YAW_270
ROTATION_ROLL_180_PITCH_270
ROTATION_PITCH_90_YAW_180
ROTATION_PITCH_90_ROLL_90
ROTATION_YAW_293_PITCH_68_ROLL_90
ROTATION_PITCH_90_ROLL_270
ROTATION_PITCH_9_YAW_180
ROTATION_PITCH_45
ROTATION_PITCH_315
ROTATION_ROLL_90_YAW_270
ROTATION_MAX

Definition at line 51 of file rotation.h.

Function Documentation

get_rot_matrix()

__EXPORT matrix::Dcmf get_rot_matrix

(

enum Rotation

rot

)

Get the rotation matrix.

Definition at line 45 of file rotation.cpp.

References math::radians(), and rot_lookup.

Referenced by DfAK8963Wrapper::DfAK8963Wrapper(), DfHmc5883Wrapper::DfHmc5883Wrapper(), DfLsm9ds1Wrapper::DfLsm9ds1Wrapper(), DfMPU6050Wrapper::DfMPU6050Wrapper(), do_accel_calibration(), VehicleAcceleration::ParametersUpdate(), VehicleAngularVelocity::ParametersUpdate(), sensors::VotedSensorsUpdate::parametersUpdate(), and read_accelerometer_avg().

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get_rot_quaternion()

__EXPORT matrix::Quatf get_rot_quaternion

(

enum Rotation

rot

)

Get the rotation quaternion.

Definition at line 54 of file rotation.cpp.

References math::radians(), and rot_lookup.

Referenced by MavlinkStreamAttitudeQuaternion::send().

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rotate_3f()

__EXPORT void rotate_3f	(	enum Rotation	rot,
		float &	x,
		float &	y,
		float &	z
	)

rotate a 3 element float vector in-place

Definition at line 63 of file rotation.cpp.

References ROTATION_MAX, ROTATION_NONE, ROTATION_PITCH_180, ROTATION_PITCH_270, ROTATION_PITCH_315, ROTATION_PITCH_45, ROTATION_PITCH_90, ROTATION_PITCH_90_ROLL_270, ROTATION_PITCH_90_ROLL_90, ROTATION_PITCH_90_YAW_180, ROTATION_PITCH_9_YAW_180, ROTATION_ROLL_180, ROTATION_ROLL_180_PITCH_270, ROTATION_ROLL_180_YAW_135, ROTATION_ROLL_180_YAW_225, ROTATION_ROLL_180_YAW_270, ROTATION_ROLL_180_YAW_315, ROTATION_ROLL_180_YAW_45, ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_270, ROTATION_ROLL_270_YAW_135, ROTATION_ROLL_270_YAW_270, ROTATION_ROLL_270_YAW_45, ROTATION_ROLL_270_YAW_90, ROTATION_ROLL_90, ROTATION_ROLL_90_YAW_135, ROTATION_ROLL_90_YAW_270, ROTATION_ROLL_90_YAW_45, ROTATION_ROLL_90_YAW_90, ROTATION_YAW_135, ROTATION_YAW_180, ROTATION_YAW_225, ROTATION_YAW_270, ROTATION_YAW_293_PITCH_68_ROLL_90, ROTATION_YAW_315, ROTATION_YAW_45, and ROTATION_YAW_90.

Referenced by DfMpu9250Wrapper::_publish(), PX4FLOW::collect(), LSM303AGR::collect(), RM3100::collect(), LIS3MDL::collect(), QMC5883::collect(), HMC5883::collect(), BMM150::collect(), IST8310::collect(), MavlinkReceiver::handle_message_optical_flow_rad(), Simulator::publish_flow_topic(), PAW3902::Run(), PMW3901::Run(), PX4Magnetometer::update(), PX4Accelerometer::update(), and PX4Gyroscope::update().

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Variable Documentation

rot_lookup

const rot_lookup_t rot_lookup[]

Definition at line 97 of file rotation.h.

Referenced by get_rot_matrix(), and get_rot_quaternion().