51 lines
2.1 KiB
C
51 lines
2.1 KiB
C
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of MPU9150Lib
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//
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// Copyright (c) 2013 Pansenti, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef MPUQUATERNION_H_
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#define MPUQUATERNION_H_
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#include <math.h>
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#include "MPUVector3.h"
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#define QUAT_W 0 // scalar offset
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#define QUAT_X 1 // x offset
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#define QUAT_Y 2 // y offset
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#define QUAT_Z 3 // z offset
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typedef float MPUQuaternion[4];
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void MPUQuaternionNormalize(MPUQuaternion q);
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void MPUQuaternionQuaternionToEuler(const MPUQuaternion q, MPUVector3 v);
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void MPUQuaternionEulerToQuaternion(const MPUVector3 v, MPUQuaternion q);
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void MPUQuaternionConjugate(const MPUQuaternion s, MPUQuaternion d);
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void MPUQuaternionMultiply(const MPUQuaternion qa, const MPUQuaternion qb, MPUQuaternion qd);
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inline float MPUQuaternionNorm(MPUQuaternion q)
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{
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return sqrt(q[QUAT_W] * q[QUAT_W] + q[QUAT_X] * q[QUAT_X] +
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q[QUAT_Y] * q[QUAT_Y] + q[QUAT_Z] * q[QUAT_Z]);
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}
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#endif /* MPUQUATERNION_H_ */
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