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110 lines
3.8 KiB
C
110 lines
3.8 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_quaternion2rotation_f32.c
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* Description: Floating-point quaternion 2 rotation conversion
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*
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*
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* Target Processor: Cortex-M cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "dsp/quaternion_math_functions.h"
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#include <math.h>
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/**
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@ingroup groupQuaternionMath
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*/
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/**
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@defgroup QuatConv Quaternion conversions
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Conversions between quaternion and rotation representations.
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*/
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/**
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@ingroup QuatConv
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*/
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/**
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@defgroup QuatRot Quaternion to Rotation
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Conversions from quaternion to rotation.
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*/
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/**
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@addtogroup QuatRot
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@{
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*/
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/**
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@brief Conversion of quaternion to equivalent rotation matrix.
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@param[in] pInputQuaternions points to an array of normalized quaternions
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@param[out] pOutputRotations points to an array of 3x3 rotations (in row order)
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@param[in] nbQuaternions number of quaternions in the array
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@return none.
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@par
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Format of rotation matrix
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The quaternion a + ib + jc + kd is converted into rotation matrix:
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<pre>
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a^2 + b^2 - c^2 - d^2 2bc - 2ad 2bd + 2ac
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2bc + 2ad a^2 - b^2 + c^2 - d^2 2cd - 2ab
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2bd - 2ac 2cd + 2ab a^2 - b^2 - c^2 + d^2
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</pre>
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Rotation matrix is saved in row order : R00 R01 R02 R10 R11 R12 R20 R21 R22
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*/
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void arm_quaternion2rotation_f32(const float32_t *pInputQuaternions,
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float32_t *pOutputRotations,
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uint32_t nbQuaternions)
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{
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for(uint32_t nb=0; nb < nbQuaternions; nb++)
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{
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float32_t q00 = SQ(pInputQuaternions[0 + nb * 4]);
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float32_t q11 = SQ(pInputQuaternions[1 + nb * 4]);
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float32_t q22 = SQ(pInputQuaternions[2 + nb * 4]);
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float32_t q33 = SQ(pInputQuaternions[3 + nb * 4]);
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float32_t q01 = pInputQuaternions[0 + nb * 4]*pInputQuaternions[1 + nb * 4];
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float32_t q02 = pInputQuaternions[0 + nb * 4]*pInputQuaternions[2 + nb * 4];
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float32_t q03 = pInputQuaternions[0 + nb * 4]*pInputQuaternions[3 + nb * 4];
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float32_t q12 = pInputQuaternions[1 + nb * 4]*pInputQuaternions[2 + nb * 4];
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float32_t q13 = pInputQuaternions[1 + nb * 4]*pInputQuaternions[3 + nb * 4];
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float32_t q23 = pInputQuaternions[2 + nb * 4]*pInputQuaternions[3 + nb * 4];
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float32_t xx = q00 + q11 - q22 - q33;
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float32_t yy = q00 - q11 + q22 - q33;
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float32_t zz = q00 - q11 - q22 + q33;
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float32_t xy = 2*(q12 - q03);
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float32_t xz = 2*(q13 + q02);
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float32_t yx = 2*(q12 + q03);
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float32_t yz = 2*(q23 - q01);
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float32_t zx = 2*(q13 - q02);
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float32_t zy = 2*(q23 + q01);
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pOutputRotations[0 + nb * 9] = xx; pOutputRotations[1 + nb * 9] = xy; pOutputRotations[2 + nb * 9] = xz;
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pOutputRotations[3 + nb * 9] = yx; pOutputRotations[4 + nb * 9] = yy; pOutputRotations[5 + nb * 9] = yz;
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pOutputRotations[6 + nb * 9] = zx; pOutputRotations[7 + nb * 9] = zy; pOutputRotations[8 + nb * 9] = zz;
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}
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}
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/**
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@} end of QuatRot group
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*/
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