Vector and Matrix Math#

Inertial measurement unit fusion driver math routines.

Functions#

void

sl_imu_normalize_angle(float *a)

Normalize the angle ( -PI < angle <= PI )

void

sl_imu_matrix_multiply(float c[3][3], float a[3][3], float b[3][3])

Multiply two 3x3 matrices.

void

sl_imu_vector_normalize_angle(float v[3])

Normalize the angle of a vector.

void

sl_imu_vector_zero(float v[3])

Set all elements of a vector to 0.

void

sl_imu_vector_scale(float v[3], float scale)

Scale a vector by a factor.

void

sl_imu_vector_scalar_multiplication(float r[3], float v[3], float scale)

Multiply a vector by a scalar.

void

sl_imu_vector_add(float r[3], float a[3], float b[3])

Add two vectors.

void

sl_imu_vector_subtract(float r[3], float a[3], float b[3])

Subtract vector b from vector a.

float

sl_imu_vector_dot_product(float a[3], float b[3])

Calculate the dot product of two vectors.

void

sl_imu_vector_cross_product(float r[3], float a[3], float b[3])

Calculate the cross product of two vectors.

Function Documentation#

sl_imu_normalize_angle#

void sl_imu_normalize_angle (float * a)

Normalize the angle ( -PI < angle <= PI )

Parameters

Type	Direction	Argument Name	Description
float *	N/A	a	The angle to be normalized

sl_imu_matrix_multiply#

void sl_imu_matrix_multiply (float c, float a, float b)

Multiply two 3x3 matrices.

Parameters

Type	Direction	Argument Name	Description
float	[out]	c	The multiplication result, AB
float	[in]	a	Input vector A
float	[in]	b	Input vector B

sl_imu_vector_normalize_angle#

void sl_imu_vector_normalize_angle (float v)

Normalize the angle of a vector.

Parameters

Type	Direction	Argument Name	Description
float	N/A	v	The vector, which contains angles to be normalized

sl_imu_vector_zero#

void sl_imu_vector_zero (float v)

Set all elements of a vector to 0.

Parameters

Type	Direction	Argument Name	Description
float	N/A	v	The vector to be cleared

sl_imu_vector_scale#

void sl_imu_vector_scale (float v, float scale)

Scale a vector by a factor.

Parameters

Type	Direction	Argument Name	Description
float	N/A	v	The vector to be scaled
float	[in]	scale	The scale factor

sl_imu_vector_scalar_multiplication#

void sl_imu_vector_scalar_multiplication (float r, float v, float scale)

Multiply a vector by a scalar.

Parameters

Type	Direction	Argument Name	Description
float	[out]	r	The multiplied vector
float	[in]	v	The vector to be multiplied
float	[in]	scale	The scalar multiplicator value

sl_imu_vector_add#

void sl_imu_vector_add (float r, float a, float b)

Add two vectors.

Parameters

Type	Direction	Argument Name	Description
float	[out]	r	The vectorial sum of the vectors, a+b
float	[in]	a	The first vector
float	[in]	b	The second vector

sl_imu_vector_subtract#

void sl_imu_vector_subtract (float r, float a, float b)

Subtract vector b from vector a.

Parameters

Type	Direction	Argument Name	Description
float	[out]	r	The vectorial difference, a-b
float	[in]	a	Vector a
float	[in]	b	Vector b

sl_imu_vector_dot_product#

float sl_imu_vector_dot_product (float a, float b)

Calculate the dot product of two vectors.

Parameters

Type	Direction	Argument Name	Description
float	[in]	a	The first vector
float	[in]	b	The second vector

Returns

The dot product

sl_imu_vector_cross_product#

void sl_imu_vector_cross_product (float r, float a, float b)

Calculate the cross product of two vectors.

Parameters

Type	Direction	Argument Name	Description
float	[out]	r	The cross product
float	[in]	a	The first vector
float	[in]	b	The second vector