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Fix typos in latest pprz_algebra_float fixes

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This commit is contained in:
Allen Ibara
2010-08-21 01:30:13 +00:00
parent c15f1f796f
commit 661d05a6ce
1 changed files with 12 additions and 9 deletions
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sw/airborne/math/pprz_algebra_float.h
+12 -9
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@@ -28,6 +28,7 @@
#include "pprz_algebra.h"
#include <math.h>
#include <float.h> // for FLT_MIN
struct FloatVect2 {
float x;
@@ -362,10 +363,12 @@ struct FloatRates {
#define FLOAT_QUAT_NORMALISE(q) { \
float norm = FLOAT_QUAT_NORM(q); \
q.qi = q.qi / norm; \
q.qx = q.qx / norm; \
q.qy = q.qy / norm; \
q.qz = q.qz / norm; \
if (norm > FLT_MIN) { \
q.qi = q.qi / norm; \
q.qx = q.qx / norm; \
q.qy = q.qy / norm; \
q.qz = q.qz / norm; \
} \
}
#define FLOAT_QUAT_INVERT(_qo, _qi) QUAT_INVERT(_qo, _qi)
@@ -395,8 +398,8 @@ struct FloatRates {
/* _a2b = _a2c comp_inv _b2c , aka _a2b = _a2c * inv(_b2c) */
#define FLOAT_QUAT_COMP_INV_NORM_SHORTEST(_a2b, _a2c, _b2c) { \
FLOAT_QUAT_COMP_INV(_a2b, _a2c, _b2c); \
FLOAT_QUAT_WRAP_SHORTEST(_a2c); \
FLOAT_QUAT_NORMALISE(_a2c); \
FLOAT_QUAT_WRAP_SHORTEST(_a2b); \
FLOAT_QUAT_NORMALISE(_a2b); \
}
/* _a2b = _a2c comp_inv _b2c , aka _a2b = _a2c * inv(_b2c) */
@@ -409,9 +412,9 @@ struct FloatRates {
/* _b2c = _a2b inv_comp _a2c , aka _b2c = inv(_a2b) * _a2c */
#define FLOAT_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) { \
FLOAT_QUAT_INV_COMP(_a2b, _a2c, _b2c); \
FLOAT_QUAT_WRAP_SHORTEST(_a2c); \
FLOAT_QUAT_NORMALISE(_a2c); \
FLOAT_QUAT_INV_COMP(_b2c, _a2b, _a2c); \
FLOAT_QUAT_WRAP_SHORTEST(_b2c); \
FLOAT_QUAT_NORMALISE(_b2c); \
}
/* _b2c = _a2b inv_comp _a2c , aka _b2c = inv(_a2b) * _a2c */