Synopsis

void ctl_forward_transform_axes(int transform,
                                float *axes);

ctl_forward_transform_axes applies the axis transformation transform to the samples pointed to by axes.

An axis transformation defines how to pick the sensor readings taken from a sensor in device mounting coordinates and transform them to body coordinates. Given the measurement (x_device, y_device, z_device) in device coordinates, you transform this to body coordinates by applying a transformation generated by ctl_generate_axis_transform.

Assume that a sensor requires swapping the x and y axes and negating the z axis to transform from device to body coordinates. You would transform the coordinates using:

int transform = ctl_generate_axis_transform(AXIS_POSITIVE_Y,
                                            AXIS_POSITIVE_X,
                                            AXIS_NEGATIVE_Z);
ctl_forward_transform_axes(transform, axes);

See Also

ctl_generate_axis_transform.