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AP_Math: remove rotateXY and rotateXYinv

This commit is contained in:
Jonathan Challinger 2016-08-09 11:31:18 -07:00 committed by Andrew Tridgell
parent dac59cb5da
commit 80d9092993
2 changed files with 0 additions and 50 deletions
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42
libraries/AP_Math/matrix3.cpp
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@ -116,44 +116,6 @@ void Matrix3<T>::rotate(const Vector3<T> &g)
(*this) += temp_matrix;
}
// apply an additional rotation from a body frame gyro vector
// to a rotation matrix.
template <typename T>
void Matrix3<T>::rotateXY(const Vector3<T> &g)
{
Matrix3<T> temp_matrix;
temp_matrix.a.x = -a.z * g.y;
temp_matrix.a.y = a.z * g.x;
temp_matrix.a.z = a.x * g.y - a.y * g.x;
temp_matrix.b.x = -b.z * g.y;
temp_matrix.b.y = b.z * g.x;
temp_matrix.b.z = b.x * g.y - b.y * g.x;
temp_matrix.c.x = -c.z * g.y;
temp_matrix.c.y = c.z * g.x;
temp_matrix.c.z = c.x * g.y - c.y * g.x;
(*this) += temp_matrix;
}
// apply an additional inverse rotation to a rotation matrix but
// only use X, Y elements from rotation vector
template <typename T>
void Matrix3<T>::rotateXYinv(const Vector3<T> &g)
{
Matrix3<T> temp_matrix;
temp_matrix.a.x = a.z * g.y;
temp_matrix.a.y = - a.z * g.x;
temp_matrix.a.z = - a.x * g.y + a.y * g.x;
temp_matrix.b.x = b.z * g.y;
temp_matrix.b.y = - b.z * g.x;
temp_matrix.b.z = - b.x * g.y + b.y * g.x;
temp_matrix.c.x = c.z * g.y;
temp_matrix.c.y = - c.z * g.x;
temp_matrix.c.z = - c.x * g.y + c.y * g.x;
(*this) += temp_matrix;
}
/*
re-normalise a rotation matrix
*/
@ -296,8 +258,6 @@ void Matrix3<T>::from_axis_angle(const Vector3<T> &v, float theta)
// only define for float
template void Matrix3<float>::zero(void);
template void Matrix3<float>::rotate(const Vector3<float> &g);
template void Matrix3<float>::rotateXY(const Vector3<float> &g);
template void Matrix3<float>::rotateXYinv(const Vector3<float> &g);
template void Matrix3<float>::normalize(void);
template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw) const;
@ -315,8 +275,6 @@ template Vector2<float> Matrix3<float>::mulXY(const Vector3<float> &v) const;
template void Matrix3<double>::zero(void);
template void Matrix3<double>::rotate(const Vector3<double> &g);
template void Matrix3<double>::rotateXY(const Vector3<double> &g);
template void Matrix3<double>::rotateXYinv(const Vector3<double> &g);
template void Matrix3<double>::from_euler(float roll, float pitch, float yaw);
template void Matrix3<double>::to_euler(float *roll, float *pitch, float *yaw) const;
template Vector3<double> Matrix3<double>::operator *(const Vector3<double> &v) const;

8
libraries/AP_Math/matrix3.h
View File

@ -252,14 +252,6 @@ public:
// to a rotation matrix.
void rotate(const Vector3<T> &g);
// apply an additional rotation from a body frame gyro vector
// to a rotation matrix but only use X, Y elements from gyro vector
void rotateXY(const Vector3<T> &g);
// apply an additional inverse rotation to a rotation matrix but
// only use X, Y elements from rotation vector
void rotateXYinv(const Vector3<T> &g);
// create rotation matrix for rotation about the vector v by angle theta
// See: https://en.wikipedia.org/wiki/Rotation_matrix#General_rotations
// "Rotation matrix from axis and angle"