src/data/dataquaternions_funcs.h

   1 /* Copyright (C) 2008 Sean D'Epagnier <sean@depagnier.com>
   2  *
   3  * This Program is free software; you can redistribute it and/or
   4  * modify it under the terms of the GNU General Public
   5  * License as published by the Free Software Foundation; either
   6  * version 3 of the License, or (at your option) any later version.
   7  *
   8  * This program is distributed in the hope that it will be useful,
   9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11  * GNU General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License
  14  * along with this program; if not, write to the Free Software
  15  * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  16  *
  17  * For more information on the GPL, please go to:
  18  * http://www.gnu.org/copyleft/gpl.html
  19  */
  20
  21 #include <math.h>
  22 #include <linalg/quaternion.h>
  23 #include <linalg/rotate.h>
  24
  25 #define MAKE_QUATERNION_GETS(mem) \
  26     void data_get_quaternion_##mem(float quat[4]) \
  27     { \
  28       float q[4];                        \
  29       get_bytes_##mem(q, quat, sizeof q);\
  30       data_show_quaternion(q);           \
  31     }
  32
  33 void data_show_quaternion(float q[4])
  34 {
  35   DATA_OUTPUT("<%f %f %f %f> %f degrees\n",
  36               q[0], q[1], q[2], q[3], rad2deg(quatangle(q)));
  37 }
  38
  39 MAKE_QUATERNION_GETS(sram)
  40 MAKE_QUATERNION_GETS(eeprom)
  41 MAKE_QUATERNION_GETS(flash)