C++ (Cpp) EULERS_SUB Examples

Example #1

File: test_algebra.c Project: EwoudSmeur/paparazzi

float test_eulers_of_rmat(struct FloatRMat frm, int display)
{

  struct FloatEulers fe;
  float_eulers_of_rmat(&fe, &frm);
  struct Int32RMat irm;
  RMAT_BFP_OF_REAL(irm, frm);
  struct Int32Eulers ie;
  int32_eulers_of_rmat(&ie, &irm);
  struct FloatEulers fe2;
  EULERS_FLOAT_OF_BFP(fe2, ie);
  EULERS_SUB(fe2, ie);
  float norm_err = FLOAT_EULERS_NORM(fe2);

  if (display) {
    printf("euler of rmat\n");
    //    DISPLAY_FLOAT_RMAT("fr", fr);
    DISPLAY_FLOAT_EULERS_DEG("fe", fe);
    DISPLAY_INT32_EULERS("ie", ie);
    DISPLAY_INT32_EULERS_AS_FLOAT_DEG("ieaf", ie);
  }

  return norm_err;

}

Example #2

File: test_algebra.c Project: byrddev/paparazzi

float test_eulers_of_quat(struct FloatQuat fq, int display) {

    struct FloatEulers fe;
    FLOAT_EULERS_OF_QUAT(fe, fq);
    struct Int32Quat iq;
    QUAT_BFP_OF_REAL(iq, fq);
    struct Int32Eulers ie;
    INT32_EULERS_OF_QUAT(ie, iq);
    struct FloatEulers fe2;
    EULERS_FLOAT_OF_BFP(fe2, ie);
    EULERS_SUB(fe2, ie);
    float norm_err = FLOAT_EULERS_NORM(fe2);

    if (display) {
        printf("euler of quat\n");
        DISPLAY_FLOAT_QUAT("fq", fq);
        DISPLAY_FLOAT_EULERS_DEG("fe", fe);
        DISPLAY_INT32_EULERS("ie", ie);
        DISPLAY_INT32_EULERS_AS_FLOAT_DEG("ieaf", ie);
    }

    return norm_err;
}