quaternions.c File Reference

Functions related to 3D quaternions and Euler angles. More...

#include <stdio.h>
#include <math.h>
#include <assert.h>
#include "geometry_datatypes.h"

Include dependency graph for quaternions.c:

Functions
quaternion	quat_from_euler (const euler *in_euler)
	Function to convert given Euler angles to a quaternion.
euler	euler_from_quat (const quaternion *in_quat)
	Function to convert given quaternion to Euler angles.
quaternion	quaternion_multiply (const quaternion *in_quat1, const quaternion *in_quat2)
	Function to multiply two quaternions.
static void	test ()
int	main ()

Detailed Description

Functions related to 3D quaternions and Euler angles.

Author

Krishna Vedala

Function Documentation

main()

int main

(

void

)

{
    test();
    return 0;
}

test()

static void test ( void  )

static

{
    quaternion quat = {0.7071f, 0.7071f, 0.f, 0.f};
    euler eul = euler_from_quat(&quat);
    printf("Euler: %.4g, %.4g, %.4g\n", eul.pitch, eul.roll, eul.yaw);
 
    quaternion test_quat = quat_from_euler(&eul);
    printf("Quaternion: %.4g %+.4g %+.4g %+.4g\n", test_quat.w,
           test_quat.dual.x, test_quat.dual.y, test_quat.dual.z);
 
    assert(fabsf(test_quat.w - quat.w) < .01);
    assert(fabsf(test_quat.q1 - quat.q1) < .01);
    assert(fabsf(test_quat.q2 - quat.q2) < .01);
    assert(fabsf(test_quat.q3 - quat.q3) < .01);
}