Hello,
I was wondering if anyone could point me in the right direction to solve the error I receive when I add the quaternion.h file to an arduino sketch. I'm using the arduino web editor. I was able to upload the file, but I get an error when it is compiled. This is the first time I have added a library. I get the following error:
Arduino Due Programming Port
Using library libraries in folder: /tmp/726364844/custom/libraries (legacy)
In file included from /tmp/726364844/sketch_dec7a/sketch_dec7a.ino:2:0:
/tmp/726364844/custom/libraries/quaternion.h:37:23: error: 'Matrix3f' has not been declared
void rotation_matrix(Matrix3f &m);
^
/tmp/726364844/custom/libraries/quaternion.h:40:21: error: 'Vector3f' has not been declared
void earth_to_body(Vector3f &v);
^
exit status 1
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// Copyright 2012 Andrew Tridgell, all rights reserved.
// This library is free software; you can redistribute it and / or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
#ifndef QUATERNION_H
#define QUATERNION_H
#include <math.h>
class Quaternion
{
public:
float q1, q2, q3, q4;
// constructor creates a quaternion equivalent
// to roll=0, pitch=0, yaw=0
Quaternion() { q1 = 1; q2 = q3 = q4 = 0; }
// setting constructor
Quaternion(const float _q1, const float _q2, const float _q3, const float _q4):
q1(_q1), q2(_q2), q3(_q3), q4(_q4) {}
// function call operator
void operator ()(const float _q1, const float _q2, const float _q3, const float _q4)
{ q1 = _q1; q2 = _q2; q3 = _q3; q4 = _q4; }
// check if any elements are NAN
bool is_nan(void)
{ return isnan(q1) || isnan(q2) || isnan(q3) || isnan(q4); }
// return the rotation matrix equivalent for this quaternion
void rotation_matrix(Matrix3f &m);
// convert a vector from earth to body frame
void earth_to_body(Vector3f &v);
// create a quaternion from Euler angles
void from_euler(float roll, float pitch, float yaw);
// create eulers from a quaternion
void to_euler(float *roll, float *pitch, float *yaw);
};
#endif // QUATERNION_H
// libraries - Version: Latest
#include <quaternion.h>
/*
*/
void setup() {
}
void loop() {
}