float test_quat_comp_inv(struct FloatQuat qa2c_f, struct FloatQuat qb2c_f, int display)
{
struct FloatQuat qa2b_f;
float_quat_comp_inv(&qa2b_f, &qa2c_f, &qb2c_f);
struct Int32Quat qa2c_i;
QUAT_BFP_OF_REAL(qa2c_i, qa2c_f);
struct Int32Quat qb2c_i;
QUAT_BFP_OF_REAL(qb2c_i, qb2c_f);
struct Int32Quat qa2b_i;
int32_quat_comp_inv(&qa2b_i, &qa2c_i, &qb2c_i);
struct FloatQuat err;
QUAT_DIFF(err, qa2b_f, qa2b_i);
float norm_err = FLOAT_QUAT_NORM(err);
if (display) {
printf("quat comp_inv\n");
DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("a2bf", qa2b_f);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("a2bi", qa2b_i);
}
return norm_err;
}
static void test_4_int(void) {
printf("euler to quat to euler - int\n");
/* initial euler angles */
struct Int32Eulers _e;
EULERS_ASSIGN(_e, ANGLE_BFP_OF_REAL(RadOfDeg(-10.66)), ANGLE_BFP_OF_REAL(RadOfDeg(-0.7)), ANGLE_BFP_OF_REAL(RadOfDeg(0.)));
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("euler orig ", _e);
/* transform to quaternion */
struct Int32Quat _q;
INT32_QUAT_OF_EULERS(_q, _e);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("quat1 ", _q);
// INT32_QUAT_NORMALIZE(_q);
// DISPLAY_INT32_QUAT_2("_q_n", _q);
/* back to eulers */
struct Int32Eulers _e2;
INT32_EULERS_OF_QUAT(_e2, _q);
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("back to euler ", _e2);
}
static void test_3(void) {
/* Compute BODY to IMU eulers */
struct Int32Eulers b2i_e;
EULERS_ASSIGN(b2i_e, ANGLE_BFP_OF_REAL(RadOfDeg(10.66)), ANGLE_BFP_OF_REAL(RadOfDeg(-0.7)), ANGLE_BFP_OF_REAL(RadOfDeg(0.)));
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("b2i_e", b2i_e);
/* Compute BODY to IMU quaternion */
struct Int32Quat b2i_q;
INT32_QUAT_OF_EULERS(b2i_q, b2i_e);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("b2i_q", b2i_q);
// INT32_QUAT_NORMALIZE(b2i_q);
// DISPLAY_INT32_QUAT_AS_EULERS_DEG("b2i_q_n", b2i_q);
/* Compute BODY to IMU rotation matrix */
struct Int32RMat b2i_r;
INT32_RMAT_OF_EULERS(b2i_r, b2i_e);
// DISPLAY_INT32_RMAT("b2i_r", b2i_r);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("b2i_r", b2i_r);
/* Compute LTP to IMU eulers */
struct Int32Eulers l2i_e;
EULERS_ASSIGN(l2i_e, ANGLE_BFP_OF_REAL(RadOfDeg(0.)), ANGLE_BFP_OF_REAL(RadOfDeg(20.)), ANGLE_BFP_OF_REAL(RadOfDeg(0.)));
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("l2i_e", l2i_e);
/* Compute LTP to IMU quaternion */
struct Int32Quat l2i_q;
INT32_QUAT_OF_EULERS(l2i_q, l2i_e);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("l2i_q", l2i_q);
/* Compute LTP to IMU rotation matrix */
struct Int32RMat l2i_r;
INT32_RMAT_OF_EULERS(l2i_r, l2i_e);
// DISPLAY_INT32_RMAT("l2i_r", l2i_r);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2i_r", l2i_r);
/* again but from quaternion */
struct Int32RMat l2i_r2;
INT32_RMAT_OF_QUAT(l2i_r2, l2i_q);
// DISPLAY_INT32_RMAT("l2i_r2", l2i_r2);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2i_r2", l2i_r2);
/* Compute LTP to BODY quaternion */
struct Int32Quat l2b_q;
INT32_QUAT_COMP_INV(l2b_q, b2i_q, l2i_q);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("l2b_q", l2b_q);
/* Compute LTP to BODY rotation matrix */
struct Int32RMat l2b_r;
INT32_RMAT_COMP_INV(l2b_r, l2i_r, b2i_r);
// DISPLAY_INT32_RMAT("l2b_r", l2b_r);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2b_r2", l2b_r);
/* again but from quaternion */
struct Int32RMat l2b_r2;
INT32_RMAT_OF_QUAT(l2b_r2, l2b_q);
// DISPLAY_INT32_RMAT("l2b_r2", l2b_r2);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2b_r2", l2b_r2);
/* compute LTP to BODY eulers */
struct Int32Eulers l2b_e;
INT32_EULERS_OF_RMAT(l2b_e, l2b_r);
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("l2b_e", l2b_e);
/* again but from quaternion */
struct Int32Eulers l2b_e2;
INT32_EULERS_OF_QUAT(l2b_e2, l2b_q);
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("l2b_e2", l2b_e2);
}
static void test_3(void)
{
/* Compute BODY to IMU eulers */
struct Int32Eulers b2i_e;
EULERS_ASSIGN(b2i_e, ANGLE_BFP_OF_REAL(RadOfDeg(10.66)), ANGLE_BFP_OF_REAL(RadOfDeg(-0.7)),
ANGLE_BFP_OF_REAL(RadOfDeg(0.)));
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("b2i_e", b2i_e);
/* Compute BODY to IMU quaternion */
struct Int32Quat b2i_q;
int32_quat_of_eulers(&b2i_q, &b2i_e);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("b2i_q", b2i_q);
// int32_quat_normalize(&b2i_q);
// DISPLAY_INT32_QUAT_AS_EULERS_DEG("b2i_q_n", b2i_q);
/* Compute BODY to IMU rotation matrix */
struct Int32RMat b2i_r;
int32_rmat_of_eulers(&b2i_r, &b2i_e);
// DISPLAY_INT32_RMAT("b2i_r", b2i_r);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("b2i_r", b2i_r);
/* Compute LTP to IMU eulers */
struct Int32Eulers l2i_e;
EULERS_ASSIGN(l2i_e, ANGLE_BFP_OF_REAL(RadOfDeg(0.)), ANGLE_BFP_OF_REAL(RadOfDeg(20.)),
ANGLE_BFP_OF_REAL(RadOfDeg(0.)));
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("l2i_e", l2i_e);
/* Compute LTP to IMU quaternion */
struct Int32Quat l2i_q;
int32_quat_of_eulers(&l2i_q, &l2i_e);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("l2i_q", l2i_q);
/* Compute LTP to IMU rotation matrix */
struct Int32RMat l2i_r;
int32_rmat_of_eulers(&l2i_r, &l2i_e);
// DISPLAY_INT32_RMAT("l2i_r", l2i_r);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2i_r", l2i_r);
/* again but from quaternion */
struct Int32RMat l2i_r2;
int32_rmat_of_quat(&l2i_r2, &l2i_q);
// DISPLAY_INT32_RMAT("l2i_r2", l2i_r2);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2i_r2", l2i_r2);
/* Compute LTP to BODY quaternion */
struct Int32Quat l2b_q;
int32_quat_comp_inv(&l2b_q, &b2i_q, &l2i_q);
DISPLAY_INT32_QUAT_AS_EULERS_DEG("l2b_q", l2b_q);
/* Compute LTP to BODY rotation matrix */
struct Int32RMat l2b_r;
int32_rmat_comp_inv(&l2b_r, &l2i_r, &b2i_r);
// DISPLAY_INT32_RMAT("l2b_r", l2b_r);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2b_r2", l2b_r);
/* again but from quaternion */
struct Int32RMat l2b_r2;
int32_rmat_of_quat(&l2b_r2, &l2b_q);
// DISPLAY_INT32_RMAT("l2b_r2", l2b_r2);
DISPLAY_INT32_RMAT_AS_EULERS_DEG("l2b_r2", l2b_r2);
/* compute LTP to BODY eulers */
struct Int32Eulers l2b_e;
int32_eulers_of_rmat(&l2b_e, &l2b_r);
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("l2b_e", l2b_e);
/* again but from quaternion */
struct Int32Eulers l2b_e2;
int32_eulers_of_quat(&l2b_e2, &l2b_q);
DISPLAY_INT32_EULERS_AS_FLOAT_DEG("l2b_e2", l2b_e2);
}
