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< p > Functions related to 3D quaternions and Euler angles.
< a href = "#details" > More...< / a > < / p >
< div class = "textblock" > < code > #include < stdio.h> < / code > < br / >
< code > #include < math.h> < / code > < br / >
< code > #include < assert.h> < / code > < br / >
< code > #include " < a class = "el" href = "../../d0/dc7/geometry__datatypes_8h_source.html" > geometry_datatypes.h< / a > " < / code > < br / >
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Include dependency graph for quaternions.c:< / div >
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< div class = "center" > < iframe scrolling = "no" frameborder = "0" src = "../../d4/d8a/quaternions_8c__incl.svg" width = "424" height = "111" > < p > < b > This browser is not able to show SVG: try Firefox, Chrome, Safari, or Opera instead.< / b > < / p > < / iframe >
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Functions< / h2 > < / td > < / tr >
< tr class = "memitem:ga4779f448daaf806ce5e750c13b3e0965" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga4779f448daaf806ce5e750c13b3e0965" > quat_from_euler< / a > (const < a class = "el" href = "../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd" > euler< / a > *in_euler)< / td > < / tr >
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< tr class = "memdesc:ga4779f448daaf806ce5e750c13b3e0965" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Function to convert given Euler angles to a quaternion. < br / > < / td > < / tr >
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< tr class = "separator:ga4779f448daaf806ce5e750c13b3e0965" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:ga1afd165100e9b02b86e3bd11b50f3b06" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga8cc5e5b7a5fa492423ecf034c8bb52bd" > euler< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../dc/d9a/group__quats.html#ga1afd165100e9b02b86e3bd11b50f3b06" > euler_from_quat< / a > (const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *in_quat)< / td > < / tr >
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< tr class = "memdesc:ga1afd165100e9b02b86e3bd11b50f3b06" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Function to convert given quaternion to Euler angles. < br / > < / td > < / tr >
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< tr class = "separator:ga1afd165100e9b02b86e3bd11b50f3b06" > < td class = "memSeparator" colspan = "2" >   < / td > < / tr >
< tr class = "memitem:gaf5ad0f9c4f0facc5a9c3735a178156b1" > < td class = "memItemLeft" align = "right" valign = "top" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a >   < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../dc/d9a/group__quats.html#gaf5ad0f9c4f0facc5a9c3735a178156b1" > quaternion_multiply< / a > (const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *in_quat1, const < a class = "el" href = "../../dc/d9a/group__quats.html#gaacd70a16b61dd47a19eb5fb729c2669b" > quaternion< / a > *in_quat2)< / td > < / tr >
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< tr class = "memdesc:gaf5ad0f9c4f0facc5a9c3735a178156b1" > < td class = "mdescLeft" >   < / td > < td class = "mdescRight" > Function to multiply two quaternions. < br / > < / td > < / tr >
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< tr class = "memitem:aa8dca7b867074164d5f45b0f3851269d" > < td class = "memItemLeft" align = "right" valign = "top" > static void  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../df/d98/quaternions_8c.html#aa8dca7b867074164d5f45b0f3851269d" > test< / a > ()< / td > < / tr >
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< tr class = "memitem:ae66f6b31b5ad750f1fe042a706a4e3d4" > < td class = "memItemLeft" align = "right" valign = "top" > int  < / td > < td class = "memItemRight" valign = "bottom" > < a class = "el" href = "../../df/d98/quaternions_8c.html#ae66f6b31b5ad750f1fe042a706a4e3d4" > main< / a > ()< / td > < / tr >
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< a name = "details" id = "details" > < / a > < h2 class = "groupheader" > Detailed Description< / h2 >
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< div class = "textblock" > < p > Functions related to 3D quaternions and Euler angles. < / p >
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< dl class = "section author" > < dt > Author< / dt > < dd > Krishna Vedala < / dd > < / dl >
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< / div > < h2 class = "groupheader" > Function Documentation< / h2 >
< a id = "ae66f6b31b5ad750f1fe042a706a4e3d4" name = "ae66f6b31b5ad750f1fe042a706a4e3d4" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#ae66f6b31b5ad750f1fe042a706a4e3d4" > ◆   < / a > < / span > main()< / h2 >
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< td class = "memname" > int main < / td >
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< td class = "paramname" > < / td > < td > )< / td >
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< div class = "fragment" > < div class = "line" > < span class = "lineno" > 170< / span > {< / div >
< div class = "line" > < span class = "lineno" > 171< / span > < a class = "code hl_function" href = "../../d8/d30/decimal__to__binary__recursion_8c.html#aa8dca7b867074164d5f45b0f3851269d" > test< / a > ();< / div >
< div class = "line" > < span class = "lineno" > 172< / span > < span class = "keywordflow" > return< / span > 0;< / div >
< div class = "line" > < span class = "lineno" > 173< / span > }< / div >
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< div class = "ttc" id = "adecimal__to__binary__recursion_8c_html_aa8dca7b867074164d5f45b0f3851269d" > < div class = "ttname" > < a href = "../../d8/d30/decimal__to__binary__recursion_8c.html#aa8dca7b867074164d5f45b0f3851269d" > test< / a > < / div > < div class = "ttdeci" > void test()< / div > < div class = "ttdoc" > Test function.< / div > < div class = "ttdef" > < b > Definition:< / b > decimal_to_binary_recursion.c:20< / div > < / div >
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< a id = "aa8dca7b867074164d5f45b0f3851269d" name = "aa8dca7b867074164d5f45b0f3851269d" > < / a >
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< h2 class = "memtitle" > < span class = "permalink" > < a href = "#aa8dca7b867074164d5f45b0f3851269d" > ◆   < / a > < / span > test()< / h2 >
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< div class = "memitem" >
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< td class = "memname" > static void test < / td >
< td > (< / td >
< td class = "paramtype" > void  < / td >
< td class = "paramname" > < / td > < td > )< / td >
< td > < / td >
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< div class = "fragment" > < div class = "line" > < span class = "lineno" > 154< / span > {< / div >
< div class = "line" > < span class = "lineno" > 155< / span > < a class = "code hl_struct" href = "../../de/d58/structquaternion__.html" > quaternion< / a > quat = {0.7071f, 0.7071f, 0.f, 0.f};< / div >
< div class = "line" > < span class = "lineno" > 156< / span > < a class = "code hl_struct" href = "../../d2/de8/structeuler__.html" > euler< / a > eul = < a class = "code hl_function" href = "../../dc/d9a/group__quats.html#ga1afd165100e9b02b86e3bd11b50f3b06" > euler_from_quat< / a > (& quat);< / div >
< div class = "line" > < span class = "lineno" > 157< / span > printf(< span class = "stringliteral" > " Euler: %.4g, %.4g, %.4g\n" < / span > , eul.< a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aa71f9aa6dfa32d8014b2d54ab8410e0b" > pitch< / a > , eul.< a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#a3f1b77e489be443a8d84a84082b8092e" > roll< / a > , eul.< a class = "code hl_variable" href = "../../d2/de8/structeuler__.html#aad52507cc423ec49847471f6f15dd9d7" > yaw< / a > );< / div >
< div class = "line" > < span class = "lineno" > 158< / span > < / div >
< div class = "line" > < span class = "lineno" > 159< / span > < a class = "code hl_struct" href = "../../de/d58/structquaternion__.html" > quaternion< / a > test_quat = < a class = "code hl_function" href = "../../dc/d9a/group__quats.html#ga4779f448daaf806ce5e750c13b3e0965" > quat_from_euler< / a > (& eul);< / div >
< div class = "line" > < span class = "lineno" > 160< / span > printf(< span class = "stringliteral" > " Quaternion: %.4g %+.4g %+.4g %+.4g\n" < / span > , test_quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > ,< / div >
< div class = "line" > < span class = "lineno" > 161< / span > test_quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a596abbab688731119c1f23b26a7ac17a" > dual< / a > .< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > x< / a > , test_quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a596abbab688731119c1f23b26a7ac17a" > dual< / a > .< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > y< / a > , test_quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a596abbab688731119c1f23b26a7ac17a" > dual< / a > .< a class = "code hl_variable" href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > z< / a > );< / div >
< div class = "line" > < span class = "lineno" > 162< / span > < / div >
< div class = "line" > < span class = "lineno" > 163< / span > assert(fabsf(test_quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > - quat.< a class = "code hl_variable" href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > w< / a > ) < .01);< / div >
< div class = "line" > < span class = "lineno" > 164< / span > assert(fabsf(test_quat.q1 - quat.q1) < .01);< / div >
< div class = "line" > < span class = "lineno" > 165< / span > assert(fabsf(test_quat.q2 - quat.q2) < .01);< / div >
< div class = "line" > < span class = "lineno" > 166< / span > assert(fabsf(test_quat.q3 - quat.q3) < .01);< / div >
< div class = "line" > < span class = "lineno" > 167< / span > }< / div >
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< div class = "ttc" id = "agroup__quats_html_ga1afd165100e9b02b86e3bd11b50f3b06" > < div class = "ttname" > < a href = "../../dc/d9a/group__quats.html#ga1afd165100e9b02b86e3bd11b50f3b06" > euler_from_quat< / a > < / div > < div class = "ttdeci" > euler euler_from_quat(const quaternion *in_quat)< / div > < div class = "ttdoc" > Function to convert given quaternion to Euler angles.< / div > < div class = "ttdef" > < b > Definition:< / b > quaternions.c:88< / div > < / div >
< div class = "ttc" id = "agroup__quats_html_ga4779f448daaf806ce5e750c13b3e0965" > < div class = "ttname" > < a href = "../../dc/d9a/group__quats.html#ga4779f448daaf806ce5e750c13b3e0965" > quat_from_euler< / a > < / div > < div class = "ttdeci" > quaternion quat_from_euler(const euler *in_euler)< / div > < div class = "ttdoc" > Function to convert given Euler angles to a quaternion.< / div > < div class = "ttdef" > < b > Definition:< / b > quaternions.c:47< / div > < / div >
< div class = "ttc" id = "astructeuler___html" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html" > euler_< / a > < / div > < div class = "ttdoc" > 3D Euler or Tait-Bryan angles (in radian)< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:81< / div > < / div >
< div class = "ttc" id = "astructeuler___html_a3f1b77e489be443a8d84a84082b8092e" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html#a3f1b77e489be443a8d84a84082b8092e" > euler_::roll< / a > < / div > < div class = "ttdeci" > float roll< / div > < div class = "ttdoc" > or bank = rotation about X axis< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:84< / div > < / div >
< div class = "ttc" id = "astructeuler___html_aa71f9aa6dfa32d8014b2d54ab8410e0b" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html#aa71f9aa6dfa32d8014b2d54ab8410e0b" > euler_::pitch< / a > < / div > < div class = "ttdeci" > float pitch< / div > < div class = "ttdoc" > or elevation = rotation about Y axis< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:89< / div > < / div >
< div class = "ttc" id = "astructeuler___html_aad52507cc423ec49847471f6f15dd9d7" > < div class = "ttname" > < a href = "../../d2/de8/structeuler__.html#aad52507cc423ec49847471f6f15dd9d7" > euler_::yaw< / a > < / div > < div class = "ttdeci" > float yaw< / div > < div class = "ttdoc" > or heading = rotation about Z axis< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:94< / div > < / div >
< div class = "ttc" id = "astructquaternion___html" > < div class = "ttname" > < a href = "../../de/d58/structquaternion__.html" > quaternion_< / a > < / div > < div class = "ttdoc" > a Quaternion type represented using a scalar or and a 3D vector< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:61< / div > < / div >
< div class = "ttc" id = "astructquaternion___html_a596abbab688731119c1f23b26a7ac17a" > < div class = "ttname" > < a href = "../../de/d58/structquaternion__.html#a596abbab688731119c1f23b26a7ac17a" > quaternion_::dual< / a > < / div > < div class = "ttdeci" > vec_3d dual< / div > < div class = "ttdoc" > can be a 3D vector< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:70< / div > < / div >
< div class = "ttc" id = "astructquaternion___html_a835e2ba72517fbb29d0d4e3cb4c2914f" > < div class = "ttname" > < a href = "../../de/d58/structquaternion__.html#a835e2ba72517fbb29d0d4e3cb4c2914f" > quaternion_::w< / a > < / div > < div class = "ttdeci" > float w< / div > < div class = "ttdoc" > real part of quaternion< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:64< / div > < / div >
< div class = "ttc" id = "astructvec__3d___html_a3339a40de7385fa55bee30be81c098c6" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html#a3339a40de7385fa55bee30be81c098c6" > vec_3d_::z< / a > < / div > < div class = "ttdeci" > float z< / div > < div class = "ttdoc" > Z co-ordinate.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:25< / div > < / div >
< div class = "ttc" id = "astructvec__3d___html_a53462a5a195c9e16fb584f73fd66c3d0" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html#a53462a5a195c9e16fb584f73fd66c3d0" > vec_3d_::x< / a > < / div > < div class = "ttdeci" > float x< / div > < div class = "ttdoc" > X co-ordinate.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:23< / div > < / div >
< div class = "ttc" id = "astructvec__3d___html_a76098d39a382838df3b4b48c3443413b" > < div class = "ttname" > < a href = "../../d5/db4/structvec__3d__.html#a76098d39a382838df3b4b48c3443413b" > vec_3d_::y< / a > < / div > < div class = "ttdeci" > float y< / div > < div class = "ttdoc" > Y co-ordinate.< / div > < div class = "ttdef" > < b > Definition:< / b > geometry_datatypes.h:24< / div > < / div >
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