Exemplos de DOUBLEQUAT_AS_QUATERNIOND em C++ (Cpp)

Exemplo n.º 1

Arquivo: libeknav_from_log.cpp Projeto: 2770862886/paparazzi

/** Transformation **/
Quaterniond ecef2body_from_pprz_ned2body(Vector3d ecef_pos, struct DoubleQuat q_ned2body){
  Quaterniond       ecef2body;
  struct LtpDef_d   current_ltp;
	struct EcefCoor_d ecef_pos_pprz;
  struct DoubleQuat q_ecef2enu,
                    q_ecef2ned,
                    q_ecef2body;
  
	VECTOR_AS_VECT3(ecef_pos_pprz, ecef_pos);
  ltp_def_from_ecef_d(&current_ltp, &ecef_pos_pprz);
  DOUBLE_QUAT_OF_RMAT(q_ecef2enu, current_ltp.ltp_of_ecef);
  QUAT_ENU_FROM_TO_NED(q_ecef2enu, q_ecef2ned);
//FLOAT_QUAT_COMP_NORM_SHORTEST(_a2c,          _a2b,        _b2c)
// a = ecef b = ned c = body
  FLOAT_QUAT_COMP_INV_NORM_SHORTEST(q_ecef2body, q_ecef2ned, q_ned2body);
  
  #ifdef EKNAV_FROM_LOG_DEBUG
  printf("Right after initialization:\n");
  DISPLAY_DOUBLE_QUAT("\t ned2body quaternion:", q_ned2body);
  DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ned2body);
  DISPLAY_DOUBLE_QUAT("\tecef2enu  quaternion:", q_ecef2enu);
  DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2enu);
  DISPLAY_DOUBLE_QUAT("\tecef2ned  quaternion:", q_ecef2ned);
  DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2ned);
  DISPLAY_DOUBLE_QUAT("\tecef2body quaternion:", q_ecef2body);
  DISPLAY_DOUBLE_QUAT_AS_EULERS_DEG("\t\t\t", q_ecef2body);
  #endif /* EKNAV_FROM_LOG_DEBUG */
  
  return DOUBLEQUAT_AS_QUATERNIOND(q_ecef2body);
}

Exemplo n.º 2

Arquivo: test_libeknav_4.cpp Projeto: Paolo-Maffei/lxyppc-tetrix

static void set_reference_direction(void){
	struct NedCoor_d	ref_dir_ned;
	struct EcefCoor_d pos_0_ecef_pprz,
										ref_dir_ecef;
	EARTHS_GEOMAGNETIC_FIELD_NORMED(ref_dir_ned);
	
	struct LtpDef_d current_ltp;
	VECTOR_AS_VECT3(pos_0_ecef_pprz, pos_0_ecef);
	ltp_def_from_ecef_d(&current_ltp, &pos_0_ecef_pprz);
	ecef_of_ned_vect_d(&ref_dir_ecef, &current_ltp, &ref_dir_ned);
	
	//		THIS SOMEWHERE ELSE!
	DoubleQuat initial_orientation;
	FLOAT_QUAT_ZERO(initial_orientation);
	ENU_NED_transformation(current_ltp.ltp_of_ecef);
	DOUBLE_QUAT_OF_RMAT(initial_orientation, current_ltp.ltp_of_ecef);
	ins.avg_state.orientation = DOUBLEQUAT_AS_QUATERNIOND(initial_orientation);
	//		THIS SOMEWHERE ELSE! (END)
	
	// old transformation:
	//struct DoubleRMat ned2ecef;
	//NED_TO_ECEF_MAT(pos_0_lla, ned2ecef.m);
	//RMAT_VECT3_MUL(ref_dir_ecef, ned2ecef, ref_dir_ned);
	
	reference_direction = VECT3_AS_VECTOR3D(ref_dir_ecef).normalized();
	//reference_direction = Vector3d(1, 0, 0);
	std::cout <<"reference direction NED : " << VECT3_AS_VECTOR3D(ref_dir_ned).transpose() << std::endl;
	std::cout <<"reference direction ECEF: " << reference_direction.transpose() << std::endl;
}