quaternions.c File Reference

Functions related to 3D quaternions and Euler angles. More...

#include <stdio.h>
#include <math.h>
#include <assert.h>
#include "geometry_datatypes.h"

Include dependency graph for quaternions.c:

Functions
quaternion	quat_from_euler (const euler *in_euler)
	Function to convert given Euler angles to a quaternion. More...
euler	euler_from_quat (const quaternion *in_quat)
	Function to convert given quaternion to Euler angles. More...
quaternion	quaternion_multiply (const quaternion *in_quat1, const quaternion *in_quat2)
	Function to multiply two quaternions. More...
static void	test ()
int	main ()

Detailed Description

Functions related to 3D quaternions and Euler angles.

Author

Krishna Vedala

Function Documentation

main()

int main

(

void

)

{
    test();
    return 0;
}

test()

static void test ( void  )

static

{
    quaternion quat = {0.7071f, 0.7071f, 0.f, 0.f};
    euler eul = euler_from_quat(&quat);
    printf("Euler: %.4g, %.4g, %.4g\n", eul.pitch, eul.roll, eul.yaw);
 
    quaternion test_quat = quat_from_euler(&eul);
    printf("Quaternion: %.4g %+.4g %+.4g %+.4g\n", test_quat.w,
           test_quat.dual.x, test_quat.dual.y, test_quat.dual.z);
 
    assert(fabsf(test_quat.w - quat.w) < .01);
    assert(fabsf(test_quat.q1 - quat.q1) < .01);
    assert(fabsf(test_quat.q2 - quat.q2) < .01);
    assert(fabsf(test_quat.q3 - quat.q3) < .01);
}