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50 Commits

Author SHA1 Message Date
Josh Henderson 9b74452270 AP_Math: add Internal_Error for quaternion of 0 length 2021-09-28 19:09:16 +10:00
Peter Barker be076e5b1a AP_Math: correct descriptions of quaternion functions 2021-08-19 10:00:35 +10:00
Iampete1 22100dd37c AP_Math: move to 32 digit rotation constants 2021-07-28 18:09:05 +10:00
Iampete1 dbd95f8163 AP_Math: make duplicate rotations clear 2021-07-28 18:09:05 +10:00
Iampete1 6c5424aad6 AP_Math: add roll +- 45 rotations 2021-07-28 18:09:05 +10:00
Peter Barker 118d3f085f AP_Math: quaternion: add from_euler(Vector3&) 2021-07-28 17:20:28 +10:00
Andrew Tridgell 1486a473bd AP_Math: remove unused rotation_matrix_norm() 2021-07-10 07:20:41 +10:00
Andrew Tridgell afb928081a AP_Math: use ftype for a few internal trig fns 2021-07-10 07:20:41 +10:00
Andrew Tridgell 0f2f0d4cb2 AP_Math: allow for double EKF build 2021-07-10 07:20:41 +10:00
Randy Mackay b263a1d751 AP_Math: add Quaternion::roll_pitch_difference 2021-06-08 12:55:17 +09:00
hs293go 8bc02ab00b AP_Math: Implement quaternion vector rotation operator 
Overloads operator*() with semantics of applying a rotation to a vector, in
common with usage in Eigen/OpenGL. This implementation carries out 30
operations, compared to 58 operations for the q*v*q.inverse() formula
 2021-04-19 15:34:45 +10:00
Patrick José Pereira 5d7d955378 AP_Math: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker 58a8e54d83 AP_Math: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Mark Whitehorn 7d3d664ddf AP_Math: generate internalError on call to Vector3<T>::rotate and Quaternion::from_rotation with bad rotation value 2020-04-28 10:52:21 +10:00
Randy Mackay 26e4dd6fef AP_Math: correct quaternion::from_rotation for pitch-180 2020-04-09 19:41:08 +09:00
Randy Mackay 61a06bbb04 AP_Math: add quaternion rotate, from_rotation and invert 2020-04-09 19:41:08 +09:00
Randy Mackay 9c8a5a7392 AP_Math: add comments above some quaternion methods 
thanks to jchallinger
 2020-04-03 10:16:07 +09:00
Andrew Tridgell 13a2367278 AP_Math: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Randy Mackay 07f7d793df AP_Math: add quaternion::angular_difference 2019-02-22 13:00:07 +09:00
Pierre Kancir f1270b4b22 AP_Math: const correctness 2018-12-22 08:39:06 +09:00
Andrew Tridgell 3b8ec3a2a0 AP_Math: allow double precision maths where needed 2018-05-07 11:43:23 +10:00
Pierre Kancir fb7a00799f AP_Math: quaternion fix missing return 2016-12-05 10:33:41 -08:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Leonard Hall e0eecd56b2 AP_Math: use is_zero and float constants 2016-06-24 16:16:34 +09:00
Leonard Hall 7f933140c7 AP_Math: small formatting fix to quaternion rotation_matrix 
No functional change
 2016-06-24 16:16:33 +09:00
Leonard Hall 8afd29cc85 AP_Math: add quaternion::rotation_matrix_norm 2016-06-24 16:16:28 +09:00
Gustavo Jose de Sousa 39f72610e2 AP_Math: quaternion: fix style 
Remove trailing spaces and run astyle.
 2016-05-10 16:16:37 +10:00
Jonathan Challinger 0a701088d4 AP_Math: fix bug in Quaternion::operator*= 2015-12-14 11:15:33 +09:00
Andrew Tridgell c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Andrew Tridgell 2a8f645d81 AP_Math: use matrix3 euler312 operations in quaternion library 2015-05-25 09:08:31 +10:00
Tom Pittenger 5f677c2b5b AP_Math: float to double promotion via cos instead of cosf 2015-05-16 08:21:49 +10:00
Tom Pittenger 330e4126bb Ap_Math: compile warnings: float to double. use atan2f instead of atan2 2015-05-05 13:27:00 +10:00
Jonathan Challinger 3812773485 AP_Math: make quaternion divide by zero protection more conservative 2015-04-28 11:42:13 +10:00
Jonathan Challinger fb8da1b2d8 AP_Math: add get_euler_(roll|pitch|yaw) functions to quaternion 2015-04-28 11:42:13 +10:00
Tom Pittenger 10c933966b AP_Math: fix compile warning re float constants 2015-04-24 14:25:02 +09:00
Jonathan Challinger 6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger 07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Paul Riseborough 255252f387 AP_Math: Fix bug in quaternion division 2015-02-03 09:49:16 +11:00
Paul Riseborough 17445d03f0 AP_Math: Add quaternion division 2015-02-03 09:49:16 +11:00
Jonathan Challinger 3befe74afa AP_Math: change quaternion class to use const references where optimal 2014-10-20 06:24:30 +11:00
Jonathan Challinger 1f7e393e38 AP_Math: refactor quaternion library 2014-10-20 06:24:22 +11:00
Andrew Tridgell 689f230d40 AP_Math: added quaternion.from_rotation_matrix() 2014-02-15 12:20:31 +11:00
Andrew Tridgell 90c41981ac AP_Math: added quaternion normalization 2014-02-15 05:27:51 +11:00
Andrew Tridgell 96df09fd08 AP_Math: add const to quaternion API 2013-12-30 14:33:17 +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
uncrustify 424baf3f29 uncrustify libraries/AP_Math/quaternion.cpp 2012-08-21 19:03:33 -07:00
Andrew Tridgell d948a28e7c Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 5c6368bad3 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 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