mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_Math/examples/rotations/rotations.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
baa74ae360
commit
a40691e874
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@ -11,25 +11,25 @@ FastSerialPort(Serial, 0);
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#ifdef DESKTOP_BUILD
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// all of this is needed to build with SITL
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#include <DataFlash.h>
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#include <APM_RC.h>
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#include <GCS_MAVLink.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_ADC.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h>
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#include <AP_GPS.h>
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#include <DataFlash.h>
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#include <APM_RC.h>
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#include <GCS_MAVLink.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_ADC.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h>
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#include <AP_GPS.h>
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Arduino_Mega_ISR_Registry isr_registry;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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#endif
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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// standard rotation matrices (these are the originals from the old code)
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#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)
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#define MATRIX_ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define MATRIX_ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
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@ -57,17 +57,17 @@ static void print_matrix(Matrix3f &m)
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// test one matrix
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static void test_matrix(enum Rotation rotation, Matrix3f m)
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{
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Matrix3f m2, diff;
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const float accuracy = 1.0e-6;
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m2.rotation(rotation);
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diff = (m - m2);
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if (diff.a.length() > accuracy ||
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diff.b.length() > accuracy ||
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diff.c.length() > accuracy) {
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Serial.printf("rotation matrix %u incorrect\n", (unsigned)rotation);
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Matrix3f m2, diff;
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const float accuracy = 1.0e-6;
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m2.rotation(rotation);
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diff = (m - m2);
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if (diff.a.length() > accuracy ||
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diff.b.length() > accuracy ||
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diff.c.length() > accuracy) {
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Serial.printf("rotation matrix %u incorrect\n", (unsigned)rotation);
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print_matrix(m);
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print_matrix(m2);
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}
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}
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}
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// test generation of rotation matrices
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@ -95,19 +95,19 @@ static void test_matrices(void)
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// test rotation of vectors
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static void test_vector(enum Rotation rotation, Vector3f v1, bool show=true)
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{
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Vector3f v2, diff;
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Matrix3f m;
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v2 = v1;
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m.rotation(rotation);
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v1.rotate(rotation);
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v2 = m * v2;
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diff = v1 - v2;
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if (diff.length() > 1.0e-6) {
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Serial.printf("rotation vector %u incorrect\n", (unsigned)rotation);
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Serial.printf("%u %f %f %f\n",
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(unsigned)rotation,
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v2.x, v2.y, v2.z);
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}
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Vector3f v2, diff;
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Matrix3f m;
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v2 = v1;
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m.rotation(rotation);
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v1.rotate(rotation);
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v2 = m * v2;
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diff = v1 - v2;
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if (diff.length() > 1.0e-6) {
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Serial.printf("rotation vector %u incorrect\n", (unsigned)rotation);
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Serial.printf("%u %f %f %f\n",
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(unsigned)rotation,
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v2.x, v2.y, v2.z);
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}
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if (show) {
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Serial.printf("%u %f %f %f\n",
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(unsigned)rotation,
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@ -118,8 +118,8 @@ static void test_vector(enum Rotation rotation, Vector3f v1, bool show=true)
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// generate a random float between -1 and 1
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static float rand_num(void)
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{
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float ret = ((unsigned)random()) % 2000000;
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return (ret - 1.0e6) / 1.0e6;
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float ret = ((unsigned)random()) % 2000000;
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return (ret - 1.0e6) / 1.0e6;
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}
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// test rotation of vectors
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@ -127,10 +127,10 @@ static void test_vector(enum Rotation rotation)
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{
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uint8_t i;
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Vector3f v1;
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v1.x = 1;
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v1.y = 2;
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v1.z = 3;
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Vector3f v1;
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v1.x = 1;
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v1.y = 2;
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v1.z = 3;
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test_vector(rotation, v1);
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for (i=0; i<10; i++) {
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@ -170,8 +170,8 @@ static void test_combinations(void)
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enum Rotation r1, r2, r3;
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bool found;
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for (r1=ROTATION_NONE; r1<ROTATION_MAX;
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r1 = (enum Rotation)((uint8_t)r1+1)) {
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for (r1=ROTATION_NONE; r1<ROTATION_MAX;
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r1 = (enum Rotation)((uint8_t)r1+1)) {
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for (r2=ROTATION_NONE; r2<ROTATION_MAX;
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r2 = (enum Rotation)((uint8_t)r2+1)) {
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r3 = rotation_combination(r1, r2, &found);
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@ -187,7 +187,7 @@ static void test_combinations(void)
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}
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/*
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rotation tests
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* rotation tests
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*/
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void setup(void)
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{
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