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Martin Dieblich
17 lines
1.0 KiB
TeX
17 lines
1.0 KiB
TeX
The transformation is given by
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\begin{equation}
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\quat{} = [\cos \tfrac{\Yaw}{2} + \mathbf{k} \sin \tfrac{\Yaw}{2}][\cos \tfrac{\Pitch}{2} + \mathbf{j} \sin \tfrac{\Pitch}{2}][\cos \tfrac{\Roll}{2} + \mathbf{i} \sin \tfrac{\Roll}{2}]
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\end{equation}
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In matrix notation:
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\begin{equation}
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\quat = \begin{pmatrix}
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\cos \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \cos \tfrac{\Yaw}{2} + \sin \tfrac{\Roll}{2} \sin \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} \\
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\sin \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \cos \tfrac{\Yaw}{2} - \cos \tfrac{\Roll}{2} \sin \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} \\
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\cos \tfrac{\Roll}{2} \sin \tfrac{\Pitch}{2} \cos \tfrac{\Yaw}{2} + \sin \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} \\
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\cos \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} - \sin \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2}
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\end{pmatrix}
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\end{equation}
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\inHfile{INT32\_QUAT\_OF\_EULERS(q, e)}{pprz\_algebra\_int}
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\inHfile{FLOAT\_QUAT\_OF\_EULERS(q, e)}{pprz\_algebra\_float}
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\inHfile{DOUBLE\_QUAT\_OF\_EULERS(q, e)}{pprz\_algebra\_double}
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