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https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 23:33:58 +08:00
76a465e0ec
* locationd at 20hz
* update ref
* bump cereal
* dont modify global state
* add scons files
* ecef2geodetic and geodetic2ecef
* Finish local coords class
* Add header file
* Add orientation.cc
* cleanup
* Add functions to header file
* Add cython wrapper
* y u no work?
* This passes the tests
* test rot2quat and quat2rot
* Teste euler2rot and rot2euler
* rot_matrix
* test ecef_euler_from_ned and ned_euler_from_ecef
* add benchmark
* Add test
* Consistent newlines
* no more radians supported in geodetic
* test localcoord single
* test localcoord single
* all tests pass
* Unused import
* Add alternate namings
* Add source for formulas
* no explicit tests needed
* remove benchmark
* Add release files
* Typo
* Remove print statement
* no access to raw transform matrix
* temporarily add tolerance
* handcode quat2euler
* update ref
old-commit-hash: c18e7da3c2
69 lines
1.4 KiB
Cython
69 lines
1.4 KiB
Cython
from libcpp cimport bool
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cdef extern from "orientation.cc":
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pass
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cdef extern from "orientation.hpp":
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cdef cppclass Quaternion "Eigen::Quaterniond":
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Quaternion()
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Quaternion(double, double, double, double)
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double w()
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double x()
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double y()
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double z()
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cdef cppclass Vector3 "Eigen::Vector3d":
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Vector3()
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Vector3(double, double, double)
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double operator()(int)
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cdef cppclass Matrix3 "Eigen::Matrix3d":
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Matrix3()
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Matrix3(double*)
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double operator()(int, int)
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Quaternion euler2quat(Vector3)
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Vector3 quat2euler(Quaternion)
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Matrix3 quat2rot(Quaternion)
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Quaternion rot2quat(Matrix3)
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Vector3 rot2euler(Matrix3)
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Matrix3 euler2rot(Vector3)
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Matrix3 rot_matrix(double, double, double)
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Vector3 ecef_euler_from_ned(ECEF, Vector3)
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Vector3 ned_euler_from_ecef(ECEF, Vector3)
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cdef extern from "coordinates.cc":
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cdef struct ECEF:
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double x
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double y
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double z
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cdef struct NED:
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double n
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double e
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double d
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cdef struct Geodetic:
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double lat
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double lon
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double alt
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bool radians
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ECEF geodetic2ecef(Geodetic)
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Geodetic ecef2geodetic(ECEF)
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cdef cppclass LocalCoord_c "LocalCoord":
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LocalCoord_c(Geodetic, ECEF)
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LocalCoord_c(Geodetic)
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LocalCoord_c(ECEF)
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NED ecef2ned(ECEF)
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ECEF ned2ecef(NED)
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NED geodetic2ned(Geodetic)
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Geodetic ned2geodetic(NED)
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cdef extern from "coordinates.hpp":
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pass
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