orientation.h

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/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef ORIENTATION_H
#define ORIENTATION_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct Quaternion       
{
    float q0;           
    float q1;           
    float q2;           
    float q3;           
} Quaternion;
              
// function prototypes
void f3DOFTiltNED(
    float fR[][3],              
    float fGc[]                 
);
void f3DOFTiltAndroid(
    float fR[][3],              
    float fGc[]                 
);
void f3DOFTiltWin8(
    float fR[][3],              
    float fGc[]                 
);
void f3DOFMagnetometerMatrixNED(
    float fR[][3],              
    float fBc[]                 
);
void f3DOFMagnetometerMatrixAndroid(
    float fR[][3],              
    float fBc[]                 
);
void f3DOFMagnetometerMatrixWin8(
    float fR[][3],              
    float fBc[]                 
);
void feCompassNED(
    float fR[][3],              
    float *pfDelta,             
    float *pfsinDelta,          
    float *pfcosDelta,          
    float fBc[],                
    float fGc[],                
    float *pfmodBc,             
    float *pfmodGc              
);
void feCompassAndroid(
    float fR[][3],              
    float *pfDelta,             
    float *pfsinDelta,          
    float *pfcosDelta,          
    float fBc[],                
    float fGc[],                
    float *pfmodBc,             
    float *pfmodGc              
);
void feCompassWin8(
    float fR[][3],              
    float *pfDelta,             
    float *pfsinDelta,          
    float *pfcosDelta,          
    float fBc[],                
    float fGc[],                
    float *pfmodBc,             
    float *pfmodGc              
);
void fNEDAnglesDegFromRotationMatrix(
    float R[][3],               
    float *pfPhiDeg,            
    float *pfTheDeg,            
    float *pfPsiDeg,            
    float *pfRhoDeg,            
    float *pfChiDeg             
);
void fAndroidAnglesDegFromRotationMatrix(
    float R[][3],               
    float *pfPhiDeg,            
    float *pfTheDeg,            
    float *pfPsiDeg,            
    float *pfRhoDeg,            
    float *pfChiDeg             
);
void fWin8AnglesDegFromRotationMatrix(
    float R[][3],               
    float *pfPhiDeg,            
    float *pfTheDeg,            
    float *pfPsiDeg,            
    float *pfRhoDeg,            
    float *pfChiDeg             
);
void fQuaternionFromRotationMatrix(
    float R[][3],               
    Quaternion *pq              
);
void fRotationMatrixFromQuaternion(
    float R[][3],               
    const Quaternion *pq        
);
void qAeqBxC(
    Quaternion *pqA, 
    const Quaternion *pqB, 
    const Quaternion *pqC
);
void qAeqAxB(
    Quaternion *pqA, 
    const Quaternion *pqB
);
Quaternion qconjgAxB(
    const Quaternion *pqA,
    const Quaternion *pqB
);
void fqAeqNormqA(
    Quaternion *pqA
);
void fqAeq1(
    Quaternion *pqA
);
void fQuaternionFromRotationVectorDeg(
    Quaternion *pq,             
    const float rvecdeg[],      
    float fscaling              
);
void fRotationVectorDegFromQuaternion(
    Quaternion *pq,             
    float rvecdeg[]             
);
void fLPFOrientationQuaternion(
    Quaternion *pq, 
    Quaternion *pLPq, 
    float flpf, 
    float fdeltat, 
    float fOmega[]
);
void fveqconjgquq(
  Quaternion *pfq, 
  float fu[], 
  float fv[]
);
 
#ifdef __cplusplus
}
#endif
 
#endif   // #ifndef ORIENTATION_H