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110 Commits

Author SHA1 Message Date
Tom Pittenger 4771d19073 AP_Math: added locations_are_same(loc1,loc2) helper 
returns true if lat and lng are the same, ignores alt and options
 2015-09-08 17:05:54 +10:00
Jonathan Challinger 1c100498d4 AP_Math: use is_zero instead of defining our own epsilon 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit b654b1c21b AP_Math: add inverse matrix to math library 2015-09-03 16:59:12 +10:00
Randy Mackay 46c652e42f Math: maxf and minf functions 2015-08-19 16:44:34 +09:00
Gustavo Jose de Sousa 4790371f9b AP_Math: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:18 +10:00
Andrew Tridgell 77a2b4acf6 AP_Math: removed fast_atan 2015-05-05 13:57:22 +10:00
Andrew Tridgell 936fbbb362 AP_Math: removed AP_Math class 2015-05-05 13:27:03 +10:00
Tom Pittenger 4ec2fb3a9c AP_Math: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:02 +10:00
Tom Pittenger 820f0bf02a AP_Math: compiler warnings: float to double promotion 
cast as float because we're in magical template land where T minus T means promote to double
 2015-05-05 13:26:58 +10:00
Tom Pittenger c93c773de2 AP_Math: change is_equal and is_zero to static class for better visability 2015-05-05 13:26:50 +10:00
Randy Mackay 0392292489 AP_Math: inline is_equal, add is_zero 2015-04-28 16:19:01 +09:00
dgrat 726d7df710 AP_Math: add is_equal to compare floats 2015-04-28 16:18:59 +09:00
Andrew Tridgell f38f86ab8c AP_Math: added location_path_proportion() 
this can be used for glide slope calculations
 2015-01-01 15:17:10 +11:00
Niels Joubert 398f32d538 AP_Math: Comments on WGS coordinate conversions 2014-06-30 10:29:56 +10:00
David Dewey 17374ff5e8 AP_Math: fast_atan2 
This is 126us per call vs 199us on the AVR.  it is accurate to about
0.28 degrees

Committed by rmackay9 but contribution is from David Dewey
 2014-06-06 18:50:41 +09:00
Niels Joubert 879eb5936b AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices 2014-04-05 13:42:23 +11:00
Randy Mackay 37cfbc9ad5 AP_Math: float versions of wrap_360 and wrap_180 2014-02-15 05:27:45 +11:00
Andrew Tridgell 57d5345774 AP_Math: added M_PI_F define 2013-12-11 10:22:47 +11:00
Andrew Tridgell 5434b2c017 AP_Math: update location code to avoid float rounding 
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.

This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
 2013-08-13 12:07:34 +10:00
Andrew Tridgell 1d75b52411 AP_Math: use const references not pointers for location functions 
this makes life a bit easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:40 +10:00
Randy Mackay bd6a60f28b AP_Math: add M_PI_2 definition 
Required when building under arduino
 2013-07-14 15:57:26 +09:00
Randy Mackay 8b87849acd Math: add wrap_PI 2013-06-01 18:21:29 +09:00
Randy Mackay d81b7b507d Math: add Leonard's fast tan function 2013-05-30 18:24:32 +09:00
Andrew Tridgell 5024da2695 AP_Math: fixed indent-tabs-mode 2013-05-30 09:51:51 +10:00
Randy Mackay 7c9d9b9800 AP_Math: use DEG_TO_RAD in longitude_scale 
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
 2013-05-05 14:31:24 +09:00
Andrew Tridgell ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Andrew Tridgell e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell 78eb12a4ac AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH 2013-04-12 12:48:08 +10:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell 091b474a1d AP_Math: added wrap_360_cd() and wrap_180_cd() 
moved from per-vehicle code
 2013-03-29 13:13:37 +11:00
Randy Mackay 7729ec950e AP_Math: longitude_scale function made public 
Added LATLON_TO_M and LATLON_TO_CM #defines
 2013-01-27 23:21:39 +09:00
Randy Mackay d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
James Bielman 4fa7bb1486 Add AVR compatibility header for missing math.h definitions. 
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
 2013-01-16 13:52:17 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell 38062bbb6d AP_Math: support some more rotation combinations 2013-01-13 17:32:48 +11:00
Andrew Tridgell eb74fddd9f AP_Math: added global GRAVITY_MSS define 2013-01-02 14:45:08 +11:00
Andrew Tridgell e7b915b0f4 AP_Math: fixed error comment 2012-12-22 12:52:42 +11:00
Andrew Tridgell a072afa223 AP_Math: expand some macros into functions 
this saves some flash
 2012-12-20 14:52:38 +11:00
Pat Hickey 7dbe198e5c AP_Math: port to work on coreless arduino (AP_HAL) 2012-12-20 14:51:24 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
uncrustify 97994a4e3a uncrustify libraries/AP_Math/AP_Math.h 2012-08-21 19:03:34 -07:00
Andrew Tridgell 87fca1985f AP_Math: added location_update() and location_offset() functions 
these will be used by AHRS dead reckoning
 2012-08-11 11:56:54 +10:00
Andrew Tridgell 8ae35cae1c AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious 2012-08-08 12:12:30 +10:00
Andrew Tridgell a72f6acef6 AP_Math: added get_distance_cm() to return in centimeters 2012-07-11 07:49:05 +10:00
Andrew Tridgell 468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell 0bdce404a5 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell dd200cba31 Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell 58a68c89d9 Math: added a function to combine standard rotations 
this will allow us to have an overall board rotation plus a per-sensor
rotation
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 4422486d44 AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 9f0cb78f08 AP_Math: re-work quaternion functions to be more C++ like 
thanks to Adam for the suggestion!
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 289c64c0b9 Math: added vector3.rotate() and matrix3.rotation() methods 
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4d65cda0ea AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell c7d5f06b21 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell 16ed8bc8f6 AP_Math: added rotmat <-> euler functions 
these will make the dcm matrix manipulation easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 17d16bc8c6 AP_Math: added safe_sqrt() function 
this function will never return NAN. It will return zero for negative
numbers.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 502fbf6e17 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 882cd4ea83 AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h 
this avoids us needing AP_Math.h in every utility sketch and example
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 62e92f406e AP_Math: make out vector and matrix elements used types with fixed sizes 
this prevents differences between CPU types
 2011-12-16 20:09:11 +11:00
Andrew Tridgell 117a98f9a2 AP_Math: added a Polygon_outside() function 
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
 2011-12-15 14:34:58 +11:00
DrZiplok@gmail.com 097161cd8d Beginnings of a math library for ArduPilot(Mega) systems. 
The vector classes are light adaptations of work by Bill Perone
(billperone@yahoo.com), the Matrix3 class draws on them for
inspiration.

Bill's matrix classes are too heavyweight and not templated, so
they're less suitable for us here.

This code compiles, and some trivial tests seem to work, but
it should not be considered "golden" yet.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@441 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-08 08:21:46 +00:00