59 Commits

Author	SHA1	Message	Date
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	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	8abbbe5713	AP_Math: better way of handling safe_sqrt() ... better to test the result, than predict it	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