Direction Cosine Matrix
Description
Unit DCM matrix related routines.
Functions | |
void | sl_imu_dcm_reset (float dcm[3][3]) |
Set the elements of the DCM matrix to the corresponding elements of the identity matrix. | |
void | sl_imu_dcm_reset_z (float dcm[3][3]) |
DCM reset, Z direction. | |
void | sl_imu_dcm_normalize (float dcm[3][3]) |
Normalize the DCM matrix. | |
void | sl_imu_dcm_rotate (float dcm[3][3], float ang[3]) |
Rotate the DCM matrix by a given angle. | |
void | sl_imu_dcm_get_angles (float dcm[3][3], float ang[3]) |
Calculate the Euler angles (roll, pitch, yaw) from the DCM matrix. | |
Function Documentation
◆ sl_imu_dcm_reset()
void sl_imu_dcm_reset | ( | float | dcm[3][3] | ) |
Set the elements of the DCM matrix to the corresponding elements of the identity matrix.
- Parameters
-
dcm
DCM matrix
◆ sl_imu_dcm_reset_z()
void sl_imu_dcm_reset_z | ( | float | dcm[3][3] | ) |
DCM reset, Z direction.
- Parameters
-
dcm
DCM matrix
◆ sl_imu_dcm_normalize()
void sl_imu_dcm_normalize | ( | float | dcm[3][3] | ) |
Normalize the DCM matrix.
- Parameters
-
dcm
DCM matrix
◆ sl_imu_dcm_rotate()
void sl_imu_dcm_rotate | ( | float | dcm[3][3], |
float | ang[3] |
||
) |
Rotate the DCM matrix by a given angle.
- Parameters
-
[in,out] dcm
DCM matrix [in] ang
Rotation angle
◆ sl_imu_dcm_get_angles()
void sl_imu_dcm_get_angles | ( | float | dcm[3][3], |
float | ang[3] |
||
) |
Calculate the Euler angles (roll, pitch, yaw) from the DCM matrix.
- Parameters
-
[in] dcm
DCM matrix [out] ang
An array containing the Euler angles