mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_Math/examples/rotations/rotations.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
87c263fbb9
commit
52dbb56bf0
|
|
@ -11,25 +11,25 @@ FastSerialPort(Serial, 0);
|
|||
|
||||
#ifdef DESKTOP_BUILD
|
||||
// all of this is needed to build with SITL
|
||||
#include <DataFlash.h>
|
||||
#include <APM_RC.h>
|
||||
#include <GCS_MAVLink.h>
|
||||
#include <Arduino_Mega_ISR_Registry.h>
|
||||
#include <AP_PeriodicProcess.h>
|
||||
#include <AP_ADC.h>
|
||||
#include <AP_Baro.h>
|
||||
#include <AP_Compass.h>
|
||||
#include <AP_GPS.h>
|
||||
#include <DataFlash.h>
|
||||
#include <APM_RC.h>
|
||||
#include <GCS_MAVLink.h>
|
||||
#include <Arduino_Mega_ISR_Registry.h>
|
||||
#include <AP_PeriodicProcess.h>
|
||||
#include <AP_ADC.h>
|
||||
#include <AP_Baro.h>
|
||||
#include <AP_Compass.h>
|
||||
#include <AP_GPS.h>
|
||||
Arduino_Mega_ISR_Registry isr_registry;
|
||||
AP_Baro_BMP085_HIL barometer;
|
||||
AP_Compass_HIL compass;
|
||||
AP_Baro_BMP085_HIL barometer;
|
||||
AP_Compass_HIL compass;
|
||||
#endif
|
||||
|
||||
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
|
||||
|
||||
|
||||
// standard rotation matrices (these are the originals from the old code)
|
||||
#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
|
||||
#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)
|
||||
#define MATRIX_ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
|
||||
#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
|
||||
#define MATRIX_ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
|
||||
|
|
@ -57,17 +57,17 @@ static void print_matrix(Matrix3f &m)
|
|||
// test one matrix
|
||||
static void test_matrix(enum Rotation rotation, Matrix3f m)
|
||||
{
|
||||
Matrix3f m2, diff;
|
||||
const float accuracy = 1.0e-6;
|
||||
m2.rotation(rotation);
|
||||
diff = (m - m2);
|
||||
if (diff.a.length() > accuracy ||
|
||||
diff.b.length() > accuracy ||
|
||||
diff.c.length() > accuracy) {
|
||||
Serial.printf("rotation matrix %u incorrect\n", (unsigned)rotation);
|
||||
Matrix3f m2, diff;
|
||||
const float accuracy = 1.0e-6;
|
||||
m2.rotation(rotation);
|
||||
diff = (m - m2);
|
||||
if (diff.a.length() > accuracy ||
|
||||
diff.b.length() > accuracy ||
|
||||
diff.c.length() > accuracy) {
|
||||
Serial.printf("rotation matrix %u incorrect\n", (unsigned)rotation);
|
||||
print_matrix(m);
|
||||
print_matrix(m2);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// test generation of rotation matrices
|
||||
|
|
@ -95,19 +95,19 @@ static void test_matrices(void)
|
|||
// test rotation of vectors
|
||||
static void test_vector(enum Rotation rotation, Vector3f v1, bool show=true)
|
||||
{
|
||||
Vector3f v2, diff;
|
||||
Matrix3f m;
|
||||
v2 = v1;
|
||||
m.rotation(rotation);
|
||||
v1.rotate(rotation);
|
||||
v2 = m * v2;
|
||||
diff = v1 - v2;
|
||||
if (diff.length() > 1.0e-6) {
|
||||
Serial.printf("rotation vector %u incorrect\n", (unsigned)rotation);
|
||||
Serial.printf("%u %f %f %f\n",
|
||||
(unsigned)rotation,
|
||||
v2.x, v2.y, v2.z);
|
||||
}
|
||||
Vector3f v2, diff;
|
||||
Matrix3f m;
|
||||
v2 = v1;
|
||||
m.rotation(rotation);
|
||||
v1.rotate(rotation);
|
||||
v2 = m * v2;
|
||||
diff = v1 - v2;
|
||||
if (diff.length() > 1.0e-6) {
|
||||
Serial.printf("rotation vector %u incorrect\n", (unsigned)rotation);
|
||||
Serial.printf("%u %f %f %f\n",
|
||||
(unsigned)rotation,
|
||||
v2.x, v2.y, v2.z);
|
||||
}
|
||||
if (show) {
|
||||
Serial.printf("%u %f %f %f\n",
|
||||
(unsigned)rotation,
|
||||
|
|
@ -118,8 +118,8 @@ static void test_vector(enum Rotation rotation, Vector3f v1, bool show=true)
|
|||
// generate a random float between -1 and 1
|
||||
static float rand_num(void)
|
||||
{
|
||||
float ret = ((unsigned)random()) % 2000000;
|
||||
return (ret - 1.0e6) / 1.0e6;
|
||||
float ret = ((unsigned)random()) % 2000000;
|
||||
return (ret - 1.0e6) / 1.0e6;
|
||||
}
|
||||
|
||||
// test rotation of vectors
|
||||
|
|
@ -127,10 +127,10 @@ static void test_vector(enum Rotation rotation)
|
|||
{
|
||||
uint8_t i;
|
||||
|
||||
Vector3f v1;
|
||||
v1.x = 1;
|
||||
v1.y = 2;
|
||||
v1.z = 3;
|
||||
Vector3f v1;
|
||||
v1.x = 1;
|
||||
v1.y = 2;
|
||||
v1.z = 3;
|
||||
test_vector(rotation, v1);
|
||||
|
||||
for (i=0; i<10; i++) {
|
||||
|
|
@ -170,8 +170,8 @@ static void test_combinations(void)
|
|||
enum Rotation r1, r2, r3;
|
||||
bool found;
|
||||
|
||||
for (r1=ROTATION_NONE; r1<ROTATION_MAX;
|
||||
r1 = (enum Rotation)((uint8_t)r1+1)) {
|
||||
for (r1=ROTATION_NONE; r1<ROTATION_MAX;
|
||||
r1 = (enum Rotation)((uint8_t)r1+1)) {
|
||||
for (r2=ROTATION_NONE; r2<ROTATION_MAX;
|
||||
r2 = (enum Rotation)((uint8_t)r2+1)) {
|
||||
r3 = rotation_combination(r1, r2, &found);
|
||||
|
|
@ -187,7 +187,7 @@ static void test_combinations(void)
|
|||
}
|
||||
|
||||
/*
|
||||
rotation tests
|
||||
* rotation tests
|
||||
*/
|
||||
void setup(void)
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue