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AP_Math: removed unused matrix rotation code

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we only need to rotate vectors
This commit is contained in:
Andrew Tridgell 2013-08-28 19:16:58 +10:00
parent 28fcb1666e
commit e2b0e07973
2 changed files with 0 additions and 118 deletions
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115
libraries/AP_Math/matrix3.cpp
View File

@ -21,120 +21,6 @@
#define HALF_SQRT_2 0.70710678118654757
#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)
#define MATRIX_ROTATION_YAW_45 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 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(-HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
#define MATRIX_ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
#define MATRIX_ROTATION_YAW_225 Matrix3f(-HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
#define MATRIX_ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
#define MATRIX_ROTATION_YAW_315 Matrix3f(HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
#define MATRIX_ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_180_YAW_45 Matrix3f(HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_180_YAW_135 Matrix3f(-HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, -1)
#define MATRIX_ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_180_YAW_225 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_180_YAW_315 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, -HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, -1)
#define MATRIX_ROTATION_ROLL_90 Matrix3f(1, 0, 0, 0, 0, -1, 0, 1, 0)
#define MATRIX_ROTATION_ROLL_90_YAW_45 Matrix3f(HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, 0, 1, 0)
#define MATRIX_ROTATION_ROLL_90_YAW_90 Matrix3f(0, 0, 1, 1, 0, 0, 0, 1, 0)
#define MATRIX_ROTATION_ROLL_90_YAW_135 Matrix3f(-HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, 0, 1, 0)
#define MATRIX_ROTATION_ROLL_270 Matrix3f(1, 0, 0, 0, 0, 1, 0, -1, 0)
#define MATRIX_ROTATION_ROLL_270_YAW_45 Matrix3f(HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, HALF_SQRT_2, 0, -1, 0)
#define MATRIX_ROTATION_ROLL_270_YAW_90 Matrix3f(0, 0, -1, 1, 0, 0, 0, -1, 0)
#define MATRIX_ROTATION_ROLL_270_YAW_135 Matrix3f(-HALF_SQRT_2, 0, -HALF_SQRT_2, HALF_SQRT_2, 0, -HALF_SQRT_2, 0, -1, 0)
#define MATRIX_ROTATION_PITCH_90 Matrix3f(0, 0, 1, 0, 1, 0, -1, 0, 0)
#define MATRIX_ROTATION_PITCH_270 Matrix3f(0, 0, -1, 0, 1, 0, 1, 0, 0)
// fill in a matrix with a standard rotation
template <typename T>
void Matrix3<T>::rotation(enum Rotation r)
{
switch (r) {
case ROTATION_NONE:
case ROTATION_MAX:
*this = MATRIX_ROTATION_NONE;
break;
case ROTATION_YAW_45:
*this = MATRIX_ROTATION_YAW_45;
break;
case ROTATION_YAW_90:
*this = MATRIX_ROTATION_YAW_90;
break;
case ROTATION_YAW_135:
*this = MATRIX_ROTATION_YAW_135;
break;
case ROTATION_YAW_180:
*this = MATRIX_ROTATION_YAW_180;
break;
case ROTATION_YAW_225:
*this = MATRIX_ROTATION_YAW_225;
break;
case ROTATION_YAW_270:
*this = MATRIX_ROTATION_YAW_270;
break;
case ROTATION_YAW_315:
*this = MATRIX_ROTATION_YAW_315;
break;
case ROTATION_ROLL_180:
*this = MATRIX_ROTATION_ROLL_180;
break;
case ROTATION_ROLL_180_YAW_45:
*this = MATRIX_ROTATION_ROLL_180_YAW_45;
break;
case ROTATION_ROLL_180_YAW_90:
*this = MATRIX_ROTATION_ROLL_180_YAW_90;
break;
case ROTATION_ROLL_180_YAW_135:
*this = MATRIX_ROTATION_ROLL_180_YAW_135;
break;
case ROTATION_PITCH_180:
*this = MATRIX_ROTATION_PITCH_180;
break;
case ROTATION_ROLL_180_YAW_225:
*this = MATRIX_ROTATION_ROLL_180_YAW_225;
break;
case ROTATION_ROLL_180_YAW_270:
*this = MATRIX_ROTATION_ROLL_180_YAW_270;
break;
case ROTATION_ROLL_180_YAW_315:
*this = MATRIX_ROTATION_ROLL_180_YAW_315;
break;
case ROTATION_ROLL_90:
*this = MATRIX_ROTATION_ROLL_90;
break;
case ROTATION_ROLL_90_YAW_45:
*this = MATRIX_ROTATION_ROLL_90_YAW_45;
break;
case ROTATION_ROLL_90_YAW_90:
*this = MATRIX_ROTATION_ROLL_90_YAW_90;
break;
case ROTATION_ROLL_90_YAW_135:
*this = MATRIX_ROTATION_ROLL_90_YAW_135;
break;
case ROTATION_ROLL_270:
*this = MATRIX_ROTATION_ROLL_270;
break;
case ROTATION_ROLL_270_YAW_45:
*this = MATRIX_ROTATION_ROLL_270_YAW_45;
break;
case ROTATION_ROLL_270_YAW_90:
*this = MATRIX_ROTATION_ROLL_270_YAW_90;
break;
case ROTATION_ROLL_270_YAW_135:
*this = MATRIX_ROTATION_ROLL_270_YAW_135;
break;
case ROTATION_PITCH_90:
*this = MATRIX_ROTATION_PITCH_90;
break;
case ROTATION_PITCH_270:
*this = MATRIX_ROTATION_PITCH_270;
break;
}
}
// create a rotation matrix given some euler angles
// this is based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
template <typename T>
@ -272,7 +158,6 @@ void Matrix3<T>::zero(void)
// only define for float
template void Matrix3<float>::rotation(enum Rotation);
template void Matrix3<float>::zero(void);
template void Matrix3<float>::rotate(const Vector3<float> &g);
template void Matrix3<float>::rotateXY(const Vector3<float> &g);

3
libraries/AP_Math/matrix3.h
View File

@ -176,9 +176,6 @@ public:
return a.is_nan() || b.is_nan() || c.is_nan();
}
// fill in the matrix with a standard rotation
void rotation(enum Rotation rotation);
// create a rotation matrix from Euler angles
void from_euler(float roll, float pitch, float yaw);