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<p>Functions related to 3D quaternions and Euler angles.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br />
<code>#include &lt;math.h&gt;</code><br />
<code>#include &lt;assert.h&gt;</code><br />
<code>#include &quot;<a class="el" href="../../d0/dc7/geometry__datatypes_8h_source.html">geometry_datatypes.h</a>&quot;</code><br />
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Include dependency graph for quaternions.c:</div>
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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>&#160;</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>
<tr class="memdesc:ga4779f448daaf806ce5e750c13b3e0965"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function to convert given Euler angles to a quaternion. <br /></td></tr>
<tr class="separator:ga4779f448daaf806ce5e750c13b3e0965"><td class="memSeparator" colspan="2">&#160;</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>&#160;</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>
<tr class="memdesc:ga1afd165100e9b02b86e3bd11b50f3b06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function to convert given quaternion to Euler angles. <br /></td></tr>
<tr class="separator:ga1afd165100e9b02b86e3bd11b50f3b06"><td class="memSeparator" colspan="2">&#160;</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>&#160;</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>
<tr class="memdesc:gaf5ad0f9c4f0facc5a9c3735a178156b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function to multiply two quaternions. <br /></td></tr>
<tr class="separator:gaf5ad0f9c4f0facc5a9c3735a178156b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8dca7b867074164d5f45b0f3851269d"><td class="memItemLeft" align="right" valign="top">static void&#160;</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&#160;</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>
<div class="textblock"><p>Functions related to 3D quaternions and Euler angles. </p>
<dl class="section author"><dt>Author</dt><dd>Krishna Vedala </dd></dl>
</div><h2 class="groupheader">Function Documentation</h2>
<a id="ae66f6b31b5ad750f1fe042a706a4e3d4" name="ae66f6b31b5ad750f1fe042a706a4e3d4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae66f6b31b5ad750f1fe042a706a4e3d4">&#9670;&#160;</a></span>main()</h2>
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<td class="memname">int main </td>
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<td class="paramtype">void&#160;</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>
<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>
<h2 class="memtitle"><span class="permalink"><a href="#aa8dca7b867074164d5f45b0f3851269d">&#9670;&#160;</a></span>test()</h2>
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<td class="memname">static void test </td>
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<td class="paramtype">void&#160;</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>(&amp;quat);</div>
<div class="line"><span class="lineno"> 157</span> printf(<span class="stringliteral">&quot;Euler: %.4g, %.4g, %.4g\n&quot;</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>(&amp;eul);</div>
<div class="line"><span class="lineno"> 160</span> printf(<span class="stringliteral">&quot;Quaternion: %.4g %+.4g %+.4g %+.4g\n&quot;</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>) &lt; .01);</div>
<div class="line"><span class="lineno"> 164</span> assert(fabsf(test_quat.q1 - quat.q1) &lt; .01);</div>
<div class="line"><span class="lineno"> 165</span> assert(fabsf(test_quat.q2 - quat.q2) &lt; .01);</div>
<div class="line"><span class="lineno"> 166</span> assert(fabsf(test_quat.q3 - quat.q3) &lt; .01);</div>
<div class="line"><span class="lineno"> 167</span>}</div>
<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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