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Fixed code style for conversions

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Lorenz Meier 2013-01-11 07:47:22 +01:00
parent 970ae0c13e
commit fdf1c712b1
1 changed files with 74 additions and 71 deletions
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145
apps/systemlib/conversions.c
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@ -62,94 +62,97 @@ int16_t_from_bytes(uint8_t bytes[])
void rot2quat(const float R[9], float Q[4])
{
float q0_2;
float q1_2;
float q2_2;
float q3_2;
int32_t idx;
float q0_2;
float q1_2;
float q2_2;
float q3_2;
int32_t idx;
/* conversion of rotation matrix to quaternion
* choose the largest component to begin with */
q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
/* conversion of rotation matrix to quaternion
* choose the largest component to begin with */
q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
idx = 0;
idx = 0;
if (q0_2 < q1_2) {
q0_2 = q1_2;
if (q0_2 < q1_2) {
q0_2 = q1_2;
idx = 1;
}
idx = 1;
}
if (q0_2 < q2_2) {
q0_2 = q2_2;
idx = 2;
}
if (q0_2 < q2_2) {
q0_2 = q2_2;
idx = 2;
}
if (q0_2 < q3_2) {
q0_2 = q3_2;
idx = 3;
}
if (q0_2 < q3_2) {
q0_2 = q3_2;
idx = 3;
}
q0_2 = sqrtf(q0_2);
q0_2 = sqrtf(q0_2);
/* solve for the remaining three components */
if (idx == 0) {
q1_2 = q0_2;
q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
} else if (idx == 1) {
q2_2 = q0_2;
q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
} else if (idx == 2) {
q3_2 = q0_2;
q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
} else {
q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
}
/* solve for the remaining three components */
if (idx == 0) {
q1_2 = q0_2;
q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
/* return values */
Q[0] = q1_2;
Q[1] = q2_2;
Q[2] = q3_2;
Q[3] = q0_2;
} else if (idx == 1) {
q2_2 = q0_2;
q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
} else if (idx == 2) {
q3_2 = q0_2;
q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
} else {
q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
}
/* return values */
Q[0] = q1_2;
Q[1] = q2_2;
Q[2] = q3_2;
Q[3] = q0_2;
}
void quat2rot(const float Q[4], float R[9])
{
float q0_2;
float q1_2;
float q2_2;
float q3_2;
float q0_2;
float q1_2;
float q2_2;
float q3_2;
memset(&R[0], 0, 9U * sizeof(float));
memset(&R[0], 0, 9U * sizeof(float));
q0_2 = Q[0] * Q[0];
q1_2 = Q[1] * Q[1];
q2_2 = Q[2] * Q[2];
q3_2 = Q[3] * Q[3];
q0_2 = Q[0] * Q[0];
q1_2 = Q[1] * Q[1];
q2_2 = Q[2] * Q[2];
q3_2 = Q[3] * Q[3];
R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
}
float get_air_density(float static_pressure, float temperature_celsius)
{
return static_pressure/(air_gas_constant * (temperature_celsius + absolute_null_kelvin));
return static_pressure / (air_gas_constant * (temperature_celsius + absolute_null_kelvin));
}