rotation.cpp File Reference

Vector rotation library. More...

#include <px4_platform_common/defines.h>
#include "math.h"
#include "rotation.h"

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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...

Detailed Description

Vector rotation library.

Definition in file rotation.cpp.

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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