cont_types.h

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/*******************************************************************************
* Copyright (C) Marcus Greiff 2020
*
* @file cont_types.h
* @author Marcus Greiff
* @date June 2020
*******************************************************************************/
#ifndef __CONT_TYPES_H__
#define __CONT_TYPES_H__
 
#include <stdio.h>
#include <stdarg.h>
#include <stdlib.h>
#include <assert.h>
#include <string.h>
 
/* Trace level and print options  */
#ifndef TRACE_LEVEL
#define TRACE_LEVEL 5
#endif
#ifndef TRACE_LINES
#define TRACE_LINES 1
#endif
 
/***************************************************************************/
void dbg_printf(const char *fmt, ...);
 
/***************************************************************************/
#define TRACE(level, x) do {\
if (level <= TRACE_LEVEL) {\
if (1 == TRACE_LINES) {\
fprintf(stderr, "\033[0;34m--- %s - %d ---\033[0m\n", __FILE__, __LINE__);\
} dbg_printf x;}} while (0)
 
/***************************************************************************/
typedef struct matrix_double_s {
  int numRows;          
  int numCols;          
  double *pData;        
} matrix_double_t;
 
/***************************************************************************/
typedef struct dyn_state_qw_s {
  double quaternion[4]; 
  double omega[3];      
} dyn_state_qw_t;
 
/***************************************************************************/
typedef struct con_state_qw_fsf_s {
  int status;           
  double thrust;        
  double torque[3];     
  double inertia[9];    
  double gain_kR;       
  double gain_kc;       
  double gain_kw;       
  double gain_eps;      
  double gain_L;        
  double param_a;       
  double param_b;       
  double param_c;       
  double param_d;       
  double dist_Psi;      
  double dist_Gamma;    
  double dist_lyapunov; 
} con_state_qw_fsf_t;
 
/***************************************************************************/
typedef struct con_state_qw_fof_s {
  int status;                  
  double torque[3];            
  double inertia[9];           
  double invinertia[9];        
  double gain_Kw[9];           
  double gain_ki[3];           
  double gain_Cw[9];           
  double gain_cw;              
  double gain_cR;              
  double param_a;              
  double param_b;              
  double param_c;              
  double param_d;              
  double measuredGyrorates[3]; 
  double measuredDirections[9];
  double globalDirections[9];  
} con_state_qw_fof_t;
 
/***************************************************************************/
typedef struct ref_state_qw_s {
  double quaternion[4]; 
  double omega[3];      
  double alpha[3];      
  double thrust;        
} ref_state_qw_t;
 
/***************************************************************************/
void matrix_print( matrix_double_t *mat, char * variableName);
 
/***************************************************************************/
double matrix_get( matrix_double_t *mat, int row, int column );
 
/***************************************************************************/
void matrix_set( matrix_double_t *mat, int row, int column, double value );
 
/***************************************************************************/
void matrix_zero( matrix_double_t *matrix );
 
/***************************************************************************/
void matrix_identity( matrix_double_t *matrix );
 
/***************************************************************************/
void matrix_allocate( matrix_double_t *matrix, int numRows, int numCols );
 
/***************************************************************************/
void matrix_define( matrix_double_t *matrix, int numRows, int numCols, double *data );
 
/***************************************************************************/
void matrix_copy(matrix_double_t *Amat, matrix_double_t *Bmat);
 
#endif /* __CONT_TYPES_H__ */