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mavlink_conversions.h File Reference
These conversion functions follow the NASA rotation standards definition file available online. More...
Go to the source code of this file.
Functions | |
| MAVLINK_HELPER void | mavlink_quaternion_to_dcm (const float quaternion[4], float dcm[3][3]) |
| Converts a quaternion to a rotation matrix. | |
| MAVLINK_HELPER void | mavlink_euler_to_quaternion (float roll, float pitch, float yaw, float quaternion[4]) |
| Converts a rotation matrix to euler angles. | |
| MAVLINK_HELPER void | mavlink_dcm_to_quaternion (const float dcm[3][3], float quaternion[4]) |
Converts a rotation matrix to a quaternion Reference:
| |
| MAVLINK_HELPER void | mavlink_euler_to_dcm (float roll, float pitch, float yaw, float dcm[3][3]) |
| Converts euler angles to a rotation matrix. | |
Detailed Description
These conversion functions follow the NASA rotation standards definition file available online.
Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free) rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the protocol as widely as possible.
Definition in file mavlink_conversions.h.
Function Documentation
| MAVLINK_HELPER void mavlink_dcm_to_quaternion | ( | const float | dcm[3][3], |
| float | quaternion[4] | ||
| ) |
Converts a rotation matrix to a quaternion Reference:
- Shoemake, Quaternions, http://www.cs.ucr.edu/~vbz/resources/quatut.pdf.
- Parameters:
-
dcm a 3x3 rotation matrix quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)
Definition at line 146 of file mavlink_conversions.h.
| MAVLINK_HELPER void mavlink_euler_to_dcm | ( | float | roll, |
| float | pitch, | ||
| float | yaw, | ||
| float | dcm[3][3] | ||
| ) |
Converts euler angles to a rotation matrix.
- Parameters:
-
roll the roll angle in radians pitch the pitch angle in radians yaw the yaw angle in radians dcm a 3x3 rotation matrix
Definition at line 189 of file mavlink_conversions.h.
| MAVLINK_HELPER void mavlink_euler_to_quaternion | ( | float | roll, |
| float | pitch, | ||
| float | yaw, | ||
| float | quaternion[4] | ||
| ) |
Converts a rotation matrix to euler angles.
- Parameters:
-
dcm a 3x3 rotation matrix roll the roll angle in radians pitch the pitch angle in radians yaw the yaw angle in radians Converts a quaternion to euler angles quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) roll the roll angle in radians pitch the pitch angle in radians yaw the yaw angle in radians Converts euler angles to a quaternion roll the roll angle in radians pitch the pitch angle in radians yaw the yaw angle in radians quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)
Definition at line 118 of file mavlink_conversions.h.
| MAVLINK_HELPER void mavlink_quaternion_to_dcm | ( | const float | quaternion[4], |
| float | dcm[3][3] | ||
| ) |
Converts a quaternion to a rotation matrix.
- Parameters:
-
quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) dcm a 3x3 rotation matrix
Definition at line 38 of file mavlink_conversions.h.
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