[paparazzi-commits] [5910] Finished documentation for pprz

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[paparazzi-commits] [5910] Finished documentation for pprz_algebra.

From:	Martin Dieblich
Subject:	[paparazzi-commits] [5910] Finished documentation for pprz_algebra.
Date:	Tue, 21 Sep 2010 15:13:36 +0000
Revision: 5910
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5910
Author:   mdieblich
Date:     2010-09-21 15:13:36 +0000 (Tue, 21 Sep 2010)
Log Message:
-----------
Finished documentation for pprz_algebra. There are still many notes in it, 
which can be easily removed in the headfile (command: mynote)

Modified Paths:
--------------
    paparazzi3/trunk/doc/pprz_algebra/Makefile
    paparazzi3/trunk/doc/pprz_algebra/euler.tex
    paparazzi3/trunk/doc/pprz_algebra/introduction.tex
    paparazzi3/trunk/doc/pprz_algebra/matrix.tex
    paparazzi3/trunk/doc/pprz_algebra/quaternion.tex
    paparazzi3/trunk/doc/pprz_algebra/rates.tex
    paparazzi3/trunk/doc/pprz_algebra/transformations/euler2matrix.tex
    paparazzi3/trunk/doc/pprz_algebra/transformations/euler2quaternion.tex
    paparazzi3/trunk/doc/pprz_algebra/transformations/matrix2euler.tex
    paparazzi3/trunk/doc/pprz_algebra/transformations/matrix2quaternion.tex
    paparazzi3/trunk/doc/pprz_algebra/transformations/quaternion2euler.tex
    paparazzi3/trunk/doc/pprz_algebra/vector.tex

Added Paths:
-----------
    paparazzi3/trunk/doc/pprz_algebra/headfile.pdf
    paparazzi3/trunk/doc/pprz_algebra/transformations/axisangle2quaternion.tex

Modified: paparazzi3/trunk/doc/pprz_algebra/Makefile
===================================================================
--- paparazzi3/trunk/doc/pprz_algebra/Makefile  2010-09-21 14:26:49 UTC (rev 
5909)
+++ paparazzi3/trunk/doc/pprz_algebra/Makefile  2010-09-21 15:13:36 UTC (rev 
5910)
@@ -1,8 +1,8 @@
-doc_libeknav.pdf: headfile.tex
+doc_pprz_algebra.pdf: headfile.tex
        pdflatex $<
 bib:
        bibtex headfile
 
 clean:
-       rm -f *~ *.aux *.bbl *.blg *.log *.out *.toc *.pdf *.dvi *.ps
+       rm -f *~ *.aux *.bbl *.blg *.log *.out *.toc *.dvi *.ps
        find . -name '*~' -exec rm -f {} \;

Modified: paparazzi3/trunk/doc/pprz_algebra/euler.tex
===================================================================
--- paparazzi3/trunk/doc/pprz_algebra/euler.tex 2010-09-21 14:26:49 UTC (rev 
5909)
+++ paparazzi3/trunk/doc/pprz_algebra/euler.tex 2010-09-21 15:13:36 UTC (rev 
5910)
@@ -9,7 +9,8 @@
 type           & struct                \\ \hline
 int16\_t       & Int16Eulers   \\
 int32\_t       & Int32Eulers   \\
-float          & FloatEulers
+float          & FloatEulers   \\
+double         & DoubleEulers
 \end{tabular}
 \textbf{IMPORTANT:}\label{paparazzi euler definition}\\
 Because there are many definitions of euler angles (some say 12, wikipedia 
says 24, the author tends to believe there are 48) and the choice of 
perspective, paparazzi choosed the following convention:
@@ -23,6 +24,7 @@
 \eu v = \begin{pmatrix} 0 \\ 0 \\ 0 \end{pmatrix}
 \end{equation}
 \inHfile{INT\_EULERS\_ZERO(e)}{pprz\_algebra\_int}
+\inHfile{FLOAT\_EULERS\_ZERO(e)}{pprz\_algebra\_float}
 
 \subsubsection*{$\eu a = \transp{(\Roll,\Pitch,\Yaw)}$}
 \begin{equation}
@@ -122,6 +124,12 @@
 \end{equation}
 \inHfile{INT32\_COURSE\_NORMALIZE(a)}{pprz\_algebra\_int}
 
+\subsubsection*{$\norm{\eu{e}} $ Norm}
+Calculates the 2-norm
+\begin{equation}
+\norm{\norm{\eu{e}}}_2 = \sqrt{\Roll^2+\Pitch^2+\Yaw^2}
+\end{equation}
+\inHfile{FLOAT\_EULERS\_NORM(e)}{pprz\_algebra\_float}
 
 \subsubsection*{$min \leq \eu v \leq max$ Bounding}
 Bounds the euler angles so that every angle $\Roll$, $\Pitch$ and $\Yaw$ is 
between \textit{min} and \textit{max}.

Added: paparazzi3/trunk/doc/pprz_algebra/headfile.pdf
===================================================================
--- paparazzi3/trunk/doc/pprz_algebra/headfile.pdf                              
(rev 0)
+++ paparazzi3/trunk/doc/pprz_algebra/headfile.pdf      2010-09-21 15:13:36 UTC 
(rev 5910)
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