Lines Matching defs:orientation
577 /** Converts an orientation matrix made up of 0,+1,and -1 to a scalar representation.
579 * @return Description of orientation matrix. The lowest 2 bits (0 and 1) represent the column the one is on for the
607 /** Uses the scalar orientation value to convert from chip frame to body frame
608 * @param[in] orientation A scalar that represent how to go from chip to body frame
612 void inv_convert_to_body(unsigned short orientation, const long *input, long *output)
614 output[0] = input[orientation & 0x03] * SIGNSET(orientation & 0x004);
615 output[1] = input[(orientation>>3) & 0x03] * SIGNSET(orientation & 0x020);
616 output[2] = input[(orientation>>6) & 0x03] * SIGNSET(orientation & 0x100);
619 /** Uses the scalar orientation value to convert from body frame to chip frame
620 * @param[in] orientation A scalar that represent how to go from chip to body frame
624 void inv_convert_to_chip(unsigned short orientation, const long *input, long *output)
626 output[orientation & 0x03] = input[0] * SIGNSET(orientation & 0x004);
627 output[(orientation>>3) & 0x03] = input[1] * SIGNSET(orientation & 0x020);
628 output[(orientation>>6) & 0x03] = input[2] * SIGNSET(orientation & 0x100);
632 /** Uses the scalar orientation value to convert from chip frame to body frame and
634 * @param[in] orientation A scalar that represent how to go from chip to body frame
639 void inv_convert_to_body_with_scale(unsigned short orientation,
643 output[0] = inv_q30_mult(input[orientation & 0x03] *
644 SIGNSET(orientation & 0x004), sensitivity);
645 output[1] = inv_q30_mult(input[(orientation>>3) & 0x03] *
646 SIGNSET(orientation & 0x020), sensitivity);
647 output[2] = inv_q30_mult(input[(orientation>>6) & 0x03] *
648 SIGNSET(orientation & 0x100), sensitivity);