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Antoine Drouin
2006-12-04 03:12:55 +00:00
parent 71b4392ea7
commit 22b14a98a5
2 changed files with 635 additions and 10 deletions
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sw/logalizer/disp3d.c
+625
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File diff suppressed because it is too large Load Diff
sw/logalizer/test_2.c
+10 -10
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@@ -30,10 +30,10 @@ void test_dphi_dq ( void ) {
float dcm22_sq = my_dcm22 * my_dcm22;
float my_dcm12 = 2*(q2*q3 + q0*q1);
float dcm12_sq = my_dcm12 * my_dcm12;
C[0] = 2 * q1 * dcm22 / (dcm22_sq + dcm12_sq);
C[1] = 2 * q0 * dcm22 / (dcm22_sq + dcm12_sq);
C[2] = 2 * q3 * dcm22 / (dcm22_sq + dcm12_sq);
C[3] = 2 * q2 * dcm22 / (dcm22_sq + dcm12_sq);
C[0] = 2 * q1 * my_dcm22 / (dcm22_sq + dcm12_sq);
C[1] = 2 * q0 * my_dcm22 / (dcm22_sq + dcm12_sq);
C[2] = 2 * q3 * my_dcm22 / (dcm22_sq + dcm12_sq);
C[3] = 2 * q2 * my_dcm22 / (dcm22_sq + dcm12_sq);
}
/*
theta = asin(-2(q1q3 - q0q2))
@@ -60,10 +60,10 @@ void test_dpsi_dq ( void ) {
float my_dcm01 = 2*(q1*q2 +q0*q3);
float dcm00_sq = my_dcm00 * my_dcm00;
float dcm01_sq = my_dcm01 * my_dcm01;
C[0] = 2. * q3 * dcm00 / (dcm00_sq + dcm01_sq);
C[1] = 2. * q2 * dcm00 / (dcm00_sq + dcm01_sq);
C[2] = 2. * q1 * dcm00 / (dcm00_sq + dcm01_sq);
C[3] = 2. * q0 * dcm00 / (dcm00_sq + dcm01_sq);
C[0] = 2. * q3 * my_dcm00 / (dcm00_sq + dcm01_sq);
C[1] = 2. * q2 * my_dcm00 / (dcm00_sq + dcm01_sq);
C[2] = 2. * q1 * my_dcm00 / (dcm00_sq + dcm01_sq);
C[3] = 2. * q0 * my_dcm00 / (dcm00_sq + dcm01_sq);
}
@@ -73,8 +73,8 @@ void test_dpsi_dq ( void ) {
int main (int argc, char** argv) {
phi = 0.3;
theta = 0.5;
psi = 0.5;
theta = 0.1;
psi = 0.2;
PrintEuler()
quat_of_eulers();