mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_Math/quaternion.h
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@ -15,34 +15,41 @@
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class Quaternion
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{
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public:
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float q1, q2, q3, q4;
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float q1, q2, q3, q4;
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// constructor creates a quaternion equivalent
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// to roll=0, pitch=0, yaw=0
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Quaternion() { q1 = 1; q2 = q3 = q4 = 0; }
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// constructor creates a quaternion equivalent
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// to roll=0, pitch=0, yaw=0
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Quaternion() {
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q1 = 1; q2 = q3 = q4 = 0;
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}
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// setting constructor
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Quaternion(const float _q1, const float _q2, const float _q3, const float _q4):
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q1(_q1), q2(_q2), q3(_q3), q4(_q4) {}
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// setting constructor
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Quaternion(const float _q1, const float _q2, const float _q3, const float _q4) :
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q1(_q1), q2(_q2), q3(_q3), q4(_q4) {
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}
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// function call operator
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void operator ()(const float _q1, const float _q2, const float _q3, const float _q4)
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{ q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4; }
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// function call operator
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void operator ()(const float _q1, const float _q2, const float _q3, const float _q4)
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{
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q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4;
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}
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// check if any elements are NAN
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bool is_nan(void)
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{ return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); }
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// check if any elements are NAN
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bool is_nan(void)
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{
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return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4);
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}
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// return the rotation matrix equivalent for this quaternion
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void rotation_matrix(Matrix3f &m);
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// return the rotation matrix equivalent for this quaternion
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void rotation_matrix(Matrix3f &m);
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// convert a vector from earth to body frame
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void earth_to_body(Vector3f &v);
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// convert a vector from earth to body frame
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void earth_to_body(Vector3f &v);
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// create a quaternion from Euler angles
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void from_euler(float roll, float pitch, float yaw);
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void from_euler(float roll, float pitch, float yaw);
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// create eulers from a quaternion
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void to_euler(float *roll, float *pitch, float *yaw);
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void to_euler(float *roll, float *pitch, float *yaw);
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};
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#endif // QUATERNION_H
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