22 lines
482 B
C
22 lines
482 B
C
//
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// Created by SJQ on 2024/4/26.
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//
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#ifndef BASIC_FRAMEWORK_ROBOTICS_H
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#define BASIC_FRAMEWORK_ROBOTICS_H
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#include "user_lib.h"
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// rotation matrix(R) RPY([yaw,pitch,roll]) quaternion([q0,q1,q2,q3])
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void r2rpy(const mat* R,float rpy[3]);
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void rpy2r(float rpy[3],mat* R);
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void r2quat(const mat*R,float q[4]);
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void quat2r(float q[4],mat* R);
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void quat2rpy(const float q[4],float rpy[3]);
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void rpy2quat(const float rpy[3],float q[4]);
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#endif //BASIC_FRAMEWORK_ROBOTICS_H
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