INTRODUCTION

OrienRepr is a formal verification project in Coq, for Orientation Representation (OR) problem, which is focused on derivation of popular models or algorithms for OR, including Euler Angles, Rotation Matrices, Axis-Angles, and Unit Quaternion.

Note that, project OrienRepr is part of project VFCS (Verified Flight Control System), but it is not published for now.

The entrance of the project is OrienRepr/OrienRepr.v. For more details of different ORs, please check:

• RotationMatrix3D.v
• EulerAngle.v
• AxisAngle.v
• Quaternion.v

Resources

• Homepage: OrienRepr project.
• Source-code: OrienRepr github

Preparation

This project need FinMatrix library, which is a formal matrix library in Coq, and also developed by us.

• There are two ways to install FinMatrix
  • For stable version, use opam. opam install coq-finmatrix
  • For newest version, use source code. download the source code from FinMatrix github, then make; make install

Compile

make
make clean
make html