eye.c File Reference

#include "eye.h"
#include "rt_nonfinite.h"
#include <string.h>

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Functions
void	b_eye (double b_I[36])
	Creates a 6x6 identity matrix.
void	eye (double b_I[9])
	Creates a 3x3 identity matrix.
void	eye_attitude (double b_I[16])
	Creates a 4x4 identity matrix, typically for attitude calculations.
void	eye_2 (double b_I[4])
	Creates a 2x2 identity matrix.

Function Documentation

b_eye()

void b_eye

(

double

b_I[36]

)

Creates a 6x6 identity matrix.

Parameters

[out]

b_I

Pointer to a 36-element array where the 6x6 identity matrix will be stored.

Returns

None

Definition at line 21 of file eye.c.

{
  int k;
  memset(&b_I[0], 0, 36U * sizeof(double));
  for (k = 0; k < 6; k++) {
    b_I[k + 6 * k] = 1.0;
  }
}

Referenced by mekf().

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eye()

void eye

(

double

b_I[9]

)

Creates a 3x3 identity matrix.

Parameters

[out]

b_I

Pointer to a 9-element array where the 3x3 identity matrix will be stored.

Returns

None

Definition at line 34 of file eye.c.

{
  memset(&b_I[0], 0, 9U * sizeof(double));
  b_I[0] = 1.0;
  b_I[4] = 1.0;
  b_I[8] = 1.0;
}

Referenced by mekf().

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eye_2()

void eye_2

(

double

b_I[4]

)

Creates a 2x2 identity matrix.

Parameters

[out]

b_I

Pointer to a 4-element array where the 2x2 identity matrix will be stored.

Returns

None

Definition at line 56 of file eye.c.

{
  b_I[1] = 0.0;
  b_I[2] = 0.0;
  b_I[0] = 1.0;
  b_I[3] = 1.0;
}

eye_attitude()

void eye_attitude

(

double

b_I[16]

)

Creates a 4x4 identity matrix, typically for attitude calculations.

Parameters

[out]

b_I

Pointer to a 16-element array where the 4x4 identity matrix will be stored.

Returns

None

Definition at line 46 of file eye.c.

{
  memset(&b_I[0], 0, 16U * sizeof(double));
  b_I[0] = 1.0;
  b_I[5] = 1.0;
  b_I[10] = 1.0;
  b_I[15] = 1.0;
}

Referenced by attitude_estimation().

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