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;
}
void orientationCalcEulers_i(struct OrientationReps* orientation)
{
if (bit_is_set(orientation->status, ORREP_EULER_I)) {
return;
}
if (bit_is_set(orientation->status, ORREP_EULER_F)) {
EULERS_BFP_OF_REAL(orientation->eulers_i, orientation->eulers_f);
} else if (bit_is_set(orientation->status, ORREP_RMAT_I)) {
int32_eulers_of_rmat(&(orientation->eulers_i), &(orientation->rmat_i));
} else if (bit_is_set(orientation->status, ORREP_QUAT_I)) {
int32_eulers_of_quat(&(orientation->eulers_i), &(orientation->quat_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_eulers_of_rmat(&(orientation->eulers_i), &(orientation->rmat_i));
} else if (bit_is_set(orientation->status, ORREP_QUAT_F)) {
QUAT_BFP_OF_REAL(orientation->quat_i, orientation->quat_f);
SetBit(orientation->status, ORREP_QUAT_I);
int32_eulers_of_quat(&(orientation->eulers_i), &(orientation->quat_i));
}
/* set bit to indicate this representation is computed */
SetBit(orientation->status, ORREP_EULER_I);
}
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);
}
