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GeekIMU/4.Software/GeekIMUDriver 1.0/Src/quaternion.h

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#ifndef _QUATERNION_H_
#define _QUATERNION_H_
typedef struct _MagCaliParam
{
float xOffset;
float yOffset;
float zOffset;
float xScale;
float yScale;
float zScale;
}MagCaliParam;
typedef struct _Quaternion
{
float w,x,y,z;
}Quaternion;
typedef struct _Vector3
{
float x,y,z;
}Vector3;
typedef struct _EulerAngles{
float Yaw;
float Roll;
float Pitch;
}EulerAngles;
typedef struct _MVector3
{
float v[3];
}MVector3;
typedef struct _Matrix3
{
float m[3][3];
}Matrix3;
#ifdef __cplusplus
extern "C"{
/*<2A><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>Ƶ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x,y,z<><7A><EFBFBD>ƴ˵<C6B4>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תangle<6C>Ƕȣ<C7B6><C8A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>*/
Quaternion CreateQuaternion(float angle,Vector3 v);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˵Ľ<CBB5><C4BD><EFBFBD>*/
Quaternion QuaternionMulti(Quaternion q1,Quaternion q2);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD>Ĺ<EFBFBD><C4B9><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>*/
Quaternion QuaternionConjugate(Quaternion q1);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD>ģ*/
float QuaternionMod(Quaternion q1);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
Quaternion QuaternionInversion(Quaternion q1);
void DisplayQuaternion(Quaternion q);
Quaternion EulerAnglesToQuaternion(EulerAngles e);
//EulerAngles QuaternionToEulerAngles(Quaternion q,bool useRefer);
void DisplayEulerAngles(EulerAngles e);
//void SetEulerAngles(EulerAngles *e,float Yaw,float Pitch,float Roll);
EulerAngles SetEulerAngles(float Yaw,float Pitch,float Roll);
/*<2A>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ȣ<EFBFBD><C8A3><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD>ture<72><65><EFBFBD><EFBFBD><EFBFBD>򷵻<EFBFBD>false*/
bool QuaternionEqual(Quaternion q1,Quaternion q2);
Vector3 SetVector3(float x,float y,float z);
Quaternion CreateQuaternionByGyro(float gx,float gy,float gz);
Matrix3 QuaternionToMatrix(Quaternion q);
MVector3 ComputeRotate(Matrix3 mMatrix,MVector3 vec);
EulerAngles MathQuaternionToEulerAngles(Quaternion q);
}
#else
/*<2A><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>Ƶ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x,y,z<><7A><EFBFBD>ƴ˵<C6B4>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>תangle<6C>Ƕȣ<C7B6><C8A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>*/
Quaternion CreateQuaternion(float angle,Vector3 v);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˵Ľ<CBB5><C4BD><EFBFBD>*/
Quaternion QuaternionMulti(Quaternion q1,Quaternion q2);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD>Ĺ<EFBFBD><C4B9><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>*/
Quaternion QuaternionConjugate(Quaternion q1);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD>ģ*/
float QuaternionMod(Quaternion q1);
/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
Quaternion QuaternionInversion(Quaternion q1);
void DisplayQuaternion(Quaternion q);
Quaternion EulerAnglesToQuaternion(EulerAngles e);
//EulerAngles QuaternionToEulerAngles(Quaternion q,bool useRefer);
void DisplayEulerAngles(EulerAngles e);
void SetEulerAngles(EulerAngles *e,float Yaw,float Pitch,float Roll);
//EulerAngles SetEulerAngles(float Yaw,float Pitch,float Roll);
/*<2A>ж<EFBFBD><D0B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ȣ<EFBFBD><C8A3><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD>ture<72><65><EFBFBD><EFBFBD><EFBFBD>򷵻<EFBFBD>false*/
//bool QuaternionEqual(Quaternion q1,Quaternion q2);
Vector3 SetVector3(float x,float y,float z);
Quaternion CreateQuaternionByGyro(float gx,float gy,float gz);
Matrix3 QuaternionToMatrix(Quaternion q);
MVector3 ComputeRotate(Matrix3 mMatrix,MVector3 vec);
EulerAngles MathQuaternionToEulerAngles(Quaternion q);
#endif
#endif