orientation.h

// Copyright (c) 2014, 2015, Freescale Semiconductor, Inc.
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#ifndef ORIENTATION_H
#define ORIENTATION_H

#include "types.h"

// function prototypes
void f3DOFTiltNED(float fR[][3], float fGs[]);
void f3DOFTiltAndroid(float fR[][3], float fGs[]);
void f3DOFTiltWin8(float fR[][3], float fGs[]);
void f3DOFMagnetometerMatrixNED(float fR[][3], float fBc[]);
void f3DOFMagnetometerMatrixAndroid(float fR[][3], float fBc[]);
void f3DOFMagnetometerMatrixWin8(float fR[][3], float fBc[]);
void feCompassNED(float fR[][3], float *pfDelta, float fBc[], float fGs[]);
void feCompassAndroid(float fR[][3], float *pfDelta, float fBc[], float fGs[]);
void feCompassWin8(float fR[][3], float *pfDelta, float fBc[], float fGs[]);

void fLeastSquareseCompassNED(struct fquaternion *pfq, float fB, float fDelta, float fsinDelta, float fcosDelta,
		float *pfDelta6DOF, float fBc[], float fGs[], float *pfQvB, float *pfQvG);
void fLeastSquareseCompassAndroid(struct fquaternion *pfq, float fB, float fDelta, float fsinDelta, float fcosDelta,
		float *pfDelta6DOF, float fBc[], float fGs[], float *pfQvB, float *pfQvG);
void fLeastSquareseCompassWin8(struct fquaternion *pfq, float fB, float fDelta, float fsinDelta, float fcosDelta,
		float *pfDelta6DOF, float fBc[], float fGs[], float *pfQvB, float *pfQvG);

void fNEDAnglesDegFromRotationMatrix(float R[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg);
void fAndroidAnglesDegFromRotationMatrix(float R[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg);
void fWin8AnglesDegFromRotationMatrix(float R[][3], float *pfPhiDeg, float *pfTheDeg, float *pfPsiDeg, float *pfRhoDeg, float *pfChiDeg);
void fQuaternionFromRotationMatrix(float R[][3], struct fquaternion *pq);
void fRotationMatrixFromQuaternion(float R[][3], const struct fquaternion *pq);
void qAeqBxC(struct fquaternion *pqA, const struct fquaternion *pqB, const struct fquaternion *pqC);
void qAeqAxB(struct fquaternion *pqA, const struct fquaternion *pqB);
struct fquaternion qconjgAxB(const struct fquaternion *pqA, const struct fquaternion *pqB);
void fqAeqNormqA(struct fquaternion *pqA);
void fqAeq1(struct fquaternion *pqA);
void fQuaternionFromRotationVectorDeg(struct fquaternion *pq, const float rvecdeg[], float fscaling);
void fRotationVectorDegFromQuaternion(struct fquaternion *pq, float rvecdeg[]);
void fLPFOrientationQuaternion(struct fquaternion *pq, struct fquaternion *pLPq, float flpf, float fdeltat, float fOmega[]);
void fveqconjgquq(struct fquaternion *pfq, float fu[], float fv[]);

#endif   // #ifndef ORIENTATION_H