4d_ObstacleRadarDroneCAN/math/rotation.h

#pragma once

#ifdef __cplusplus
extern "C" {
#endif

#include "dcm.h"

enum Rotation {
  ROTATION_NONE = 0,
  ROTATION_YAW_45 = 1,
  ROTATION_YAW_90 = 2,
  ROTATION_YAW_135 = 3,
  ROTATION_YAW_180 = 4,
  ROTATION_YAW_225 = 5,
  ROTATION_YAW_270 = 6,
  ROTATION_YAW_315 = 7,
  ROTATION_ROLL_180 = 8,
  ROTATION_ROLL_180_YAW_45 = 9,
  ROTATION_ROLL_180_YAW_90 = 10,
  ROTATION_ROLL_180_YAW_135 = 11,
  ROTATION_PITCH_180 = 12,
  ROTATION_ROLL_180_YAW_225 = 13,
  ROTATION_ROLL_180_YAW_270 = 14,
  ROTATION_ROLL_180_YAW_315 = 15,
  ROTATION_ROLL_90 = 16,
  ROTATION_ROLL_90_YAW_45 = 17,
  ROTATION_ROLL_90_YAW_90 = 18,
  ROTATION_ROLL_90_YAW_135 = 19,
  ROTATION_ROLL_270 = 20,
  ROTATION_ROLL_270_YAW_45 = 21,
  ROTATION_ROLL_270_YAW_90 = 22,
  ROTATION_ROLL_270_YAW_135 = 23,
  ROTATION_PITCH_90 = 24,
  ROTATION_PITCH_270 = 25,
  ROTATION_PITCH_180_YAW_90 = 26,  // same as ROTATION_ROLL_180_YAW_270
  ROTATION_PITCH_180_YAW_270 = 27, // same as ROTATION_ROLL_180_YAW_90
  ROTATION_ROLL_90_PITCH_90 = 28,
  ROTATION_ROLL_180_PITCH_90 = 29,
  ROTATION_ROLL_270_PITCH_90 = 30,
  ROTATION_ROLL_90_PITCH_180 = 31,
  ROTATION_ROLL_270_PITCH_180 = 32,
  ROTATION_ROLL_90_PITCH_270 = 33,
  ROTATION_ROLL_180_PITCH_270 = 34,
  ROTATION_ROLL_270_PITCH_270 = 35,
  ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
  ROTATION_ROLL_90_YAW_270 = 37,
  ROTATION_ROLL_90_PITCH_68_YAW_293 =
      38, // this is actually, roll 90, pitch 68.8, yaw 293.3
  ROTATION_PITCH_315 = 39,
  ROTATION_ROLL_90_PITCH_315 = 40,
  ROTATION_PITCH_7 = 41,
  ROTATION_ROLL_45 = 42,
  ROTATION_ROLL_315 = 43,
};

void rotation_to_dcm(enum Rotation rotation, float dcm[3][3]);

#ifdef __cplusplus
}
#endif