Lines Matching defs:quat
36 * @param[in] quat Quaternion, Length 4
39 float inv_compass_angle(const long *compass, const long *grav, const float *quat)
51 inv_q_multf(quat, cgcross, q1);
52 inv_q_invertf(quat, qi);
234 double quaternion_to_rotation_angle(const long *quat) {
235 double quat0 = (double )quat[0] / 1073741824;
339 * @param[in] quat 4-element quaternion in fixed point. One is 2^30.
346 void inv_quaternion_to_rotation(const long *quat, long *rot)
349 inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0],
350 quat[0]) -
353 inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]);
355 inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]);
357 inv_q29_mult(quat[1], quat[2]) + inv_q29_mult(quat[3], quat[0]);
359 inv_q29_mult(quat[2], quat[2]) + inv_q29_mult(quat[0],
360 quat[0]) -
363 inv_q29_mult(quat[2], quat[3]) - inv_q29_mult(quat[1], quat[0]);
365 inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]);
367 inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]);
369 inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0],
370 quat[0]) -
381 * @param[in] quat 4-element quaternion in fixed point. One is 2^30.
384 void inv_quaternion_to_rotation_vector(const long *quat, long *rot)
386 rot[0] = quat[1];
387 rot[1] = quat[2];
388 rot[2] = quat[3];
390 if (quat[0] < 0.0) {