| 1234567891011121314151617181920 |
- #
- # Nested type.
- # Coarse, low-resolution 3D orientation represented as fixed axes in 16 bit.
- #
- # Roll, pitch, yaw angles in radians should be multiplied by
- # ANGLE_MULTIPLIER in order to convert them to the coarse representation.
- #
- # ANGLE_MULTIPLIER = NORM / PI
- #
- # Where NORM is 12, because it:
- # - Fits the maximum range of a signed 5 bit integer
- # - Allows to exactly represent the following angles:
- # 0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
- #
- float32 ANGLE_MULTIPLIER = 4.7746482927568605
- int5[3] fixed_axis_roll_pitch_yaw
- bool orientation_defined # False if the orientation is actually not defined
|
