doxygen_docs/quaternion_8h_source.html

 #ifndef RC_QUATERNION_H

 #define RC_QUATERNION_H


 #ifdef __cplusplus

 extern "C" {

 #endif


 #include <rc/math/vector.h>

 #include <rc/math/matrix.h>


 double rc_quaternion_norm(rc_vector_t q);


 double rc_quaternion_norm_array(double q[4]);


 int   rc_normalize_quaternion(rc_vector_t* q);


 int   rc_normalize_quaternion_array(double q[4]);


 int   rc_quaternion_to_tb(rc_vector_t q, rc_vector_t* tb);


 int  rc_quaternion_to_tb_array(double q[4], double tb[3]);


 int   rc_quaternion_from_tb(rc_vector_t tb, rc_vector_t* q);


 int  rc_quaternion_from_tb_array(double tb[3], double q[4]);


 int   rc_quaternion_conjugate(rc_vector_t q, rc_vector_t* c);


 int   rc_quaternion_conjugate_inplace(rc_vector_t* q);


 int  rc_quaternion_conjugate_array(double q[4], double c[4]);


 int  rc_quaternion_conjugate_array_inplace(double q[4]);


 int   rc_quaternion_imaginary_part(rc_vector_t q, rc_vector_t* img);


 int   rc_quaternion_multiply(rc_vector_t a, rc_vector_t b, rc_vector_t* c);


 int  rc_quaternion_multiply_array(double a[4], double b[4], double c[4]);


 int   rc_quaternion_rotate(rc_vector_t* p, rc_vector_t q);


 int  rc_quaternion_rotate_array(double p[4], double q[4]);


 int   rc_quaternion_rotate_vector(rc_vector_t* v, rc_vector_t q);


 int  rc_quaternion_rotate_vector_array(double v[3], double q[4]);


 int   rc_quaternion_to_rotation_matrix(rc_vector_t q, rc_matrix_t* m);


 #ifdef __cplusplus

 }

 #endif


 #endif // RC_QUATERNION_H


rc_normalize_quaternion_array
int rc_normalize_quaternion_array(double q[4])
Normalizes a quaternion in-place to have length 1.0.
Definition: quaternion.c:60

rc_quaternion_rotate
int rc_quaternion_rotate(rc_vector_t *p, rc_vector_t q)
Rotates the quaternion p by quaternion q with the operation p'=qpq*.
Definition: quaternion.c:331

rc_quaternion_to_rotation_matrix
int rc_quaternion_to_rotation_matrix(rc_vector_t q, rc_matrix_t *m)
Converts a normalized quaternion to a 3x3 orthogonal rotation matrix.
Definition: quaternion.c:447

rc_quaternion_conjugate_inplace
int rc_quaternion_conjugate_inplace(rc_vector_t *q)
Calculates conjugate of quaternion q and overwrites the old q.
Definition: quaternion.c:185

rc_quaternion_from_tb_array
int rc_quaternion_from_tb_array(double tb[3], double q[4])
Calculates quaternion vector q from tait-bryan angles tb.
Definition: quaternion.c:135

rc_quaternion_multiply_array
int rc_quaternion_multiply_array(double a[4], double b[4], double c[4])
Calculates the quaternion Hamilton product ab=c.
Definition: quaternion.c:296

rc_quaternion_rotate_vector
int rc_quaternion_rotate_vector(rc_vector_t *v, rc_vector_t q)
Rotate a 3D vector v in-place about the origin by quaternion q by converting v to a quaternion and pe...
Definition: quaternion.c:387

rc_quaternion_from_tb
int rc_quaternion_from_tb(rc_vector_t tb, rc_vector_t *q)
Calculates quaternion vector q from tait-bryan angles tb.
Definition: quaternion.c:116

rc_quaternion_to_tb
int rc_quaternion_to_tb(rc_vector_t q, rc_vector_t *tb)
Calculates 321 Tait Bryan angles in array order XYZ with operation order 321(yaw-Z,...
Definition: quaternion.c:79

rc_quaternion_rotate_array
int rc_quaternion_rotate_array(double p[4], double q[4])
Rotates the quaternion p by quaternion q with the operation p'=qpq*.
Definition: quaternion.c:367

rc_quaternion_conjugate_array_inplace
int rc_quaternion_conjugate_array_inplace(double q[4])
Calculates conjugate of quaternion q and overwrites the old q.
Definition: quaternion.c:218

rc_quaternion_multiply
int rc_quaternion_multiply(rc_vector_t a, rc_vector_t b, rc_vector_t *c)
Calculates the quaternion Hamilton product ab=c.
Definition: quaternion.c:252

rc_quaternion_to_tb_array
int rc_quaternion_to_tb_array(double q[4], double tb[3])
Calculates 321 Tait Bryan angles in array order XYZ with operation order 321(yaw-Z,...
Definition: quaternion.c:98

rc_quaternion_imaginary_part
int rc_quaternion_imaginary_part(rc_vector_t q, rc_vector_t *img)
Populates vector i with the imaginary components ijk of of quaternion vector q.
Definition: quaternion.c:231

rc_quaternion_norm
double rc_quaternion_norm(rc_vector_t q)
Returns the length of a quaternion vector by finding its 2-norm.
Definition: quaternion.c:18

rc_normalize_quaternion
int rc_normalize_quaternion(rc_vector_t *q)
Normalizes a quaternion in-place to have length 1.0.
Definition: quaternion.c:41

rc_quaternion_conjugate_array
int rc_quaternion_conjugate_array(double q[4], double c[4])
Calculates conjugate of quaternion q.
Definition: quaternion.c:204

rc_quaternion_norm_array
double rc_quaternion_norm_array(double q[4])
Returns the length of a quaternion vector by finding its 2-norm.
Definition: quaternion.c:28

rc_quaternion_rotate_vector_array
int rc_quaternion_rotate_vector_array(double v[3], double q[4])
Rotate a 3D vector v in-place about the origin by quaternion q by converting v to a quaternion and pe...
Definition: quaternion.c:424

rc_quaternion_conjugate
int rc_quaternion_conjugate(rc_vector_t q, rc_vector_t *c)
Calculates conjugate of quaternion q.
Definition: quaternion.c:161

rc_matrix_t
Struct containing the state of a matrix and a pointer to dynamically allocated memory to hold its con...
Definition: matrix.h:32

rc_vector_t
Struct containing the state of a vector and a pointer to dynamically allocated memory to hold its con...
Definition: vector.h:41