static void test_10(void) { struct FloatEulers euler; EULERS_ASSIGN(euler , RadOfDeg(0.), RadOfDeg(10.), RadOfDeg(0.)); DISPLAY_FLOAT_EULERS_DEG("euler", euler); struct FloatQuat quat; FLOAT_QUAT_OF_EULERS(quat, euler); DISPLAY_FLOAT_QUAT("####quat", quat); struct Int32Eulers euleri; EULERS_BFP_OF_REAL(euleri, euler); DISPLAY_INT32_EULERS("euleri", euleri); struct Int32Quat quati; INT32_QUAT_OF_EULERS(quati, euleri); DISPLAY_INT32_QUAT("####quat", quati); struct Int32RMat rmati; INT32_RMAT_OF_EULERS(rmati, euleri); DISPLAY_INT32_RMAT("####rmat", rmati); struct Int32Quat quat_ltp_to_body; struct Int32Quat body_to_imu_quat; INT32_QUAT_ZERO( body_to_imu_quat); INT32_QUAT_COMP_INV(quat_ltp_to_body, body_to_imu_quat, quati); DISPLAY_INT32_QUAT("####quat_ltp_to_body", quat_ltp_to_body); }
static void test_10(void) { struct FloatEulers euler; EULERS_ASSIGN(euler , RadOfDeg(0.), RadOfDeg(10.), RadOfDeg(0.)); DISPLAY_FLOAT_EULERS_DEG("euler", euler); struct FloatQuat quat; float_quat_of_eulers(&quat, &euler); DISPLAY_FLOAT_QUAT("####quat", quat); struct Int32Eulers euleri; EULERS_BFP_OF_REAL(euleri, euler); DISPLAY_INT32_EULERS("euleri", euleri); struct Int32Quat quati; int32_quat_of_eulers(&quati, &euleri); DISPLAY_INT32_QUAT("####quat", quati); struct Int32RMat rmati; int32_rmat_of_eulers(&rmati, &euleri); DISPLAY_INT32_RMAT("####rmat", rmati); struct Int32Quat quat_ltp_to_body; struct Int32Quat body_to_imu_quat; int32_quat_identity(&body_to_imu_quat); int32_quat_comp_inv(&quat_ltp_to_body, &body_to_imu_quat, &quati); DISPLAY_INT32_QUAT("####quat_ltp_to_body", quat_ltp_to_body); }
static void test_2(void) { struct Int32Vect3 v1 = { 5000, 5000, 5000 }; DISPLAY_INT32_VECT3("v1", v1); struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)}; DISPLAY_FLOAT_EULERS("euler_f", euler_f); struct Int32Eulers euler_i; EULERS_BFP_OF_REAL(euler_i, euler_f); DISPLAY_INT32_EULERS("euler_i", euler_i); struct Int32Quat quat_i; int32_quat_of_eulers(&quat_i, &euler_i); DISPLAY_INT32_QUAT("quat_i", quat_i); int32_quat_normalize(&quat_i); DISPLAY_INT32_QUAT("quat_i_n", quat_i); struct Int32Vect3 v2; int32_quat_vmult(&v2, &quat_i, &v1); DISPLAY_INT32_VECT3("v2", v2); struct Int32RMat rmat_i; int32_rmat_of_quat(&rmat_i, &quat_i); DISPLAY_INT32_RMAT("rmat_i", rmat_i); struct Int32Vect3 v3; INT32_RMAT_VMULT(v3, rmat_i, v1); DISPLAY_INT32_VECT3("v3", v3); struct Int32RMat rmat_i2; int32_rmat_of_eulers(&rmat_i2, &euler_i); DISPLAY_INT32_RMAT("rmat_i2", rmat_i2); struct Int32Vect3 v4; INT32_RMAT_VMULT(v4, rmat_i2, v1); DISPLAY_INT32_VECT3("v4", v4); struct FloatQuat quat_f; float_quat_of_eulers(&quat_f, &euler_f); DISPLAY_FLOAT_QUAT("quat_f", quat_f); struct FloatVect3 v5; VECT3_COPY(v5, v1); DISPLAY_FLOAT_VECT3("v5", v5); struct FloatVect3 v6; float_quat_vmult(&v6, &quat_f, &v5); DISPLAY_FLOAT_VECT3("v6", v6); }
static void test_2(void) { struct Int32Vect3 v1 = { 5000, 5000, 5000 }; DISPLAY_INT32_VECT3("v1", v1); struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)}; DISPLAY_FLOAT_EULERS("euler_f", euler_f); struct Int32Eulers euler_i; EULERS_BFP_OF_REAL(euler_i, euler_f); DISPLAY_INT32_EULERS("euler_i", euler_i); struct Int32Quat quat_i; INT32_QUAT_OF_EULERS(quat_i, euler_i); DISPLAY_INT32_QUAT("quat_i", quat_i); INT32_QUAT_NORMALIZE(quat_i); DISPLAY_INT32_QUAT("quat_i_n", quat_i); struct Int32Vect3 v2; INT32_QUAT_VMULT(v2, quat_i, v1); DISPLAY_INT32_VECT3("v2", v2); struct Int32RMat rmat_i; INT32_RMAT_OF_QUAT(rmat_i, quat_i); DISPLAY_INT32_RMAT("rmat_i", rmat_i); struct Int32Vect3 v3; INT32_RMAT_VMULT(v3, rmat_i, v1); DISPLAY_INT32_VECT3("v3", v3); struct Int32RMat rmat_i2; INT32_RMAT_OF_EULERS(rmat_i2, euler_i); DISPLAY_INT32_RMAT("rmat_i2", rmat_i2); struct Int32Vect3 v4; INT32_RMAT_VMULT(v4, rmat_i2, v1); DISPLAY_INT32_VECT3("v4", v4); struct FloatQuat quat_f; FLOAT_QUAT_OF_EULERS(quat_f, euler_f); DISPLAY_FLOAT_QUAT("quat_f", quat_f); struct FloatVect3 v5; VECT3_COPY(v5, v1); DISPLAY_FLOAT_VECT3("v5", v5); struct FloatVect3 v6; FLOAT_QUAT_VMULT(v6, quat_f, v5); DISPLAY_FLOAT_VECT3("v6", v6); }
float test_INT32_QUAT_OF_RMAT(struct FloatEulers *eul_f, bool display) { struct Int32Eulers eul321_i; EULERS_BFP_OF_REAL(eul321_i, (*eul_f)); 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_321(&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_321(&rmat_i, &eul321_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); // dot product of two quaternions is 1 if they represent same rotation float qi_dot_qf = qif.qi * qf.qi + qif.qx * qf.qx + qif.qy * qf.qy + qif.qz * qf.qz; float err_norm = fabs(fabs(qi_dot_qf) - 1.); if (display) { printf("err %f\n", err_norm); } if (display) { printf("\n"); } return err_norm; }
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; }
static void test_1(void) { struct FloatEulers euler_f = { RadOfDeg(45.), RadOfDeg(0.), RadOfDeg(0.)}; DISPLAY_FLOAT_EULERS("euler_f", euler_f); struct Int32Eulers euler_i; EULERS_BFP_OF_REAL(euler_i, euler_f); DISPLAY_INT32_EULERS("euler_i", euler_i); struct FloatQuat quat_f; FLOAT_QUAT_OF_EULERS(quat_f, euler_f); DISPLAY_FLOAT_QUAT("quat_f", quat_f); struct Int32Quat quat_i; INT32_QUAT_OF_EULERS(quat_i, euler_i); DISPLAY_INT32_QUAT("quat_i", quat_i); struct Int32RMat rmat_i; INT32_RMAT_OF_QUAT(rmat_i, quat_i); DISPLAY_INT32_RMAT("rmat_i", rmat_i); }