void orientationCalcQuat_i(struct OrientationReps* orientation) {
if (bit_is_set(orientation->status, ORREP_QUAT_I))
return;
if (bit_is_set(orientation->status, ORREP_QUAT_F)) {
QUAT_BFP_OF_REAL(orientation->quat_i, orientation->quat_f);
}
else if (bit_is_set(orientation->status, ORREP_RMAT_I)) {
INT32_QUAT_OF_RMAT(orientation->quat_i, orientation->rmat_i);
}
else if (bit_is_set(orientation->status, ORREP_EULER_I)) {
INT32_QUAT_OF_EULERS(orientation->quat_i, orientation->eulers_i);
}
else if (bit_is_set(orientation->status, ORREP_RMAT_F)) {
RMAT_BFP_OF_REAL(orientation->rmat_i, orientation->rmat_f);
SetBit(orientation->status, ORREP_RMAT_I);
INT32_QUAT_OF_RMAT(orientation->quat_i, orientation->rmat_i);
}
else if (bit_is_set(orientation->status, ORREP_EULER_F)) {
EULERS_BFP_OF_REAL(orientation->eulers_i, orientation->eulers_f);
SetBit(orientation->status, ORREP_EULER_I);
INT32_QUAT_OF_EULERS(orientation->quat_i, orientation->eulers_i);
}
/* set bit to indicate this representation is computed */
SetBit(orientation->status, ORREP_QUAT_I);
}
float test_INT32_QUAT_OF_RMAT(struct FloatEulers* eul_f, bool_t display) {
struct Int32Eulers eul312_i;
EULERS_BFP_OF_REAL(eul312_i, (*eul_f));
if (display) DISPLAY_INT32_EULERS("eul312_i", eul312_i);
struct FloatRMat rmat_f;
FLOAT_RMAT_OF_EULERS_312(rmat_f, (*eul_f));
if (display) DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rmat float", rmat_f);
if (display) DISPLAY_FLOAT_RMAT("rmat float", rmat_f);
struct Int32RMat rmat_i;
INT32_RMAT_OF_EULERS_312(rmat_i, eul312_i);
if (display) DISPLAY_INT32_RMAT_AS_EULERS_DEG("rmat int", rmat_i);
if (display) DISPLAY_INT32_RMAT("rmat int", rmat_i);
if (display) DISPLAY_INT32_RMAT_AS_FLOAT("rmat int", rmat_i);
struct FloatQuat qf;
FLOAT_QUAT_OF_RMAT(qf, rmat_f);
FLOAT_QUAT_WRAP_SHORTEST(qf);
if (display) DISPLAY_FLOAT_QUAT("qf", qf);
struct Int32Quat qi;
INT32_QUAT_OF_RMAT(qi, rmat_i);
INT32_QUAT_WRAP_SHORTEST(qi);
if (display) DISPLAY_INT32_QUAT("qi", qi);
if (display) DISPLAY_INT32_QUAT_2("qi", qi);
struct FloatQuat qif;
QUAT_FLOAT_OF_BFP(qif, qi);
struct FloatQuat qerr;
QUAT_DIFF(qerr, qif, qf);
float err_norm = FLOAT_QUAT_NORM(qerr);
if (display) printf("err %f\n", err_norm);
if (display) printf("\n");
return err_norm;
}
