Lucas De Marchi
1dbffef7ea
AP_Math: remove trailing whitespace on headers
2016-05-10 11:41:26 -03:00
Lucas De Marchi
ab1fa4b435
AP_Math: reorganize headers
...
Sort and add pragma once where needed.
2016-05-10 11:41:26 -03:00
dgrat
6d3b491c02
AP_Math: Replace is_equal with a type safe template function
...
It makes sense to consider also other floating point types.
2016-05-10 11:41:26 -03:00
dgrat
503867b7dc
AP_Math: Replace safe_sqrt() by template function
2016-05-10 11:41:26 -03:00
dgrat
5deb0e8e03
AP_Math: Replace safe_asin() by template function
2016-05-10 11:41:26 -03:00
Lucas De Marchi
846b4927ec
AP_Math: use if/else chain instead of 2 ternary operators
2016-05-10 11:41:26 -03:00
dgrat
174f899a29
AP_Math: Replace the constrain_* functions by a single template
...
Besides being simpler this reduces ~4k in the binary size for PX4.
2016-05-10 11:41:26 -03:00
Lucas De Marchi
348b07609c
AP_Math: remove macros from unit tests
...
Avoid warnings like:
[2130/2168] Compiling libraries/AP_Math/tests/test_math.cpp
../../libraries/AP_Math/tests/test_math.cpp: In member function ‘virtual void MathTest_IsZero_Test::TestBody()’:
../../libraries/AP_Math/tests/test_math.cpp:73:196: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
../../libraries/AP_Math/tests/test_math.cpp:74:199: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
Use EXPECT_TRUE() and EXPECT_FALSE() from gtest instead.
2016-05-10 11:41:26 -03:00
dgrat
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Lucas De Marchi
880f130670
AP_Math: fix loss of precision on float addition
...
When using wrap_180_cd() we are adding a small float (180 * 100) to a
possibly big number. This may lose float precision as illustrated by the
unit test failing:
OUT: ../../libraries/AP_Math/tests/test_math.cpp:195: Failure
OUT: Value of: wrap_180_cd(-3600000000.f)
OUT: Actual: -80
OUT: Expected: 0.f
OUT: Which is: 0
2016-05-10 11:41:26 -03:00
dgrat
76362caee0
AP_Math: Replace wrap_* functions with template versions
2016-05-10 11:41:26 -03:00
dgrat
49cfd6fd9b
AP_Math: Add gtest support for some functions
...
These functions (or variants thereof) now have unit tests:
- is_zero()
- is_equal()
- sq()
- pythagorous()
- constrain()
- wrap_180()
- wrap_360()
Some tests in wrap_180_cd are failing: -180 should be wrapped to 180,
not -180.
2016-05-10 11:41:26 -03:00
Lucas De Marchi
ceea7540fd
AP_Math: rename test file
...
This will be reused for more math tests.
2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa
b594b5a08b
AP_Math: matrix_alg: disable FE_OVERFLOW in inverse4x4() for SITL
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There are occasional overflows on the determinant calculation in inverse4x4()
when using calibration SITL model.
2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
a7543d369f
AP_Math: matrix_alg: protect inverseixi() against overflow
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Fail on inverse3x3() and inverse4x4() if there's float overflow during the
determinant calculation.
2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
39f72610e2
AP_Math: quaternion: fix style
...
Remove trailing spaces and run astyle.
2016-05-10 16:16:37 +10:00
Andrew Tridgell
e8142b0b5b
AP_Math: added wrap_360()
2016-05-07 18:27:21 +10:00
Andrew Tridgell
97d27ce58f
AP_Math: fixed memory leak
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found by coverity
2016-04-26 16:41:44 +10:00
Andrew Tridgell
6165c42535
AP_Math: added from_axis_angle() method on Matrix3f
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for arbitrary rotations in simulator
2016-04-22 10:28:15 +10:00
Michael du Breuil
bb7cf6c0b6
AP_Math: Update location_sanitize to sanitize for lat/lng
2016-04-17 19:00:03 -07:00
Ricardo de Almeida Gonzaga
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
Andrew Tridgell
6bff07397e
AP_Math: added linear_interpolate() function
2016-04-02 22:44:47 +11:00
Lucas De Marchi
b4a8a0b961
AP_Math: replace header guard with pragma once
2016-03-16 18:40:41 +11:00
Gustavo Jose de Sousa
6729475b25
AP_Math: fix eulers example for PX4
2016-03-14 11:54:31 -03:00
Gustavo Jose de Sousa
d9bb696fa3
AP_Math: avoid bias in rand_num() in eulers example
...
Use RAND_MAX to avoid bias.
2016-03-14 11:54:31 -03:00
Tom Pittenger
278fb2e60d
AP_Math: add location sanity checker/fixer util
2016-03-02 08:48:26 -08:00
dgrat
672acdc8ef
AP_Math: Created location.h header for location functions
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Helps to order AP_Math functions by purpose.
2016-02-27 02:51:33 -03:00
Lucas De Marchi
7f685a12bd
AP_Math: remove trailing whitespaces and tabs
2016-02-27 02:51:33 -03:00
dgrat
5148e41c1a
AP_Math: Cleaned macro definitions
...
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
dgrat
7c4c8ea579
AP_Math: Remove ROTATION_COMBINATION_SUPPORT
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This function is not used.
2016-02-27 02:51:33 -03:00
Daniel Frenzel
ead51a9d19
AP_Math: Removed useless "undef INLINE"
2016-02-25 02:10:39 -03:00
Daniel Frenzel
ef7cf7c4aa
AP_Math: Removed useless header
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"float.h" does not exist. It is useless and wrong to include it.
2016-02-25 02:10:39 -03:00
Peter Barker
80bc7a50d7
AP_Math: define MATH_CHECK_INDEXES
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Wrapped in ifndefs so the top-level Makefile can override
Assume MATH_CHECK_INDEXES is always defined
2016-02-19 12:34:23 -02:00
Gustavo Jose de Sousa
c2e3f05dbf
waf: ardupilotwaf: prefix build context methods with ap_
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It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
a2d2661765
waf: use methods from bld instead of ardupilotwaf for the remaining
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
3d22490397
waf: examples: use methods from bld instead of ardupilotwaf
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
d281067bcc
waf: make example binaries be placed in 'examples' dir
...
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
Andrew Tridgell
60af7a6087
AP_Math: removed matrix3 parameter support
2016-01-04 11:14:43 +11:00
Andrew Tridgell
16e0a6d7b0
AP_Math: fixed angle between two vector3s
2016-01-01 12:41:05 +11:00
Lucas De Marchi
180359d6dd
AP_Math: fix unit test
...
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.
While at it, check not only the values are close enough but also the
length of the vector.
2015-12-30 20:22:28 -02:00
Lucas De Marchi
ba3325ffd3
AP_Math: rename rotation
...
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.
Change the name to follow the other names.
2015-12-30 20:22:27 -02:00
Jonathan Challinger
83d5a6664a
AP_Math: minor changes to matrix_alg in response to review
2015-12-29 22:57:21 -08:00
bugobliterator
1a4b4fa85e
AP_Math: add inverse matrix test to check if inverse(mat)*mat = I
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where I is an identity matrix (a matrix with diagonal elements = 1)
2015-12-29 10:46:35 -08:00
bugobliterator
fe62a049bd
AP_Math: implement LU decomposition based matrix inverse
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Replaces previous matlab generated code, which was giving imprecise results
2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
a0c3cbffee
AP_Math: add inverse matrix test example
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fix example build
2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
5af0cc8eaf
AP_Math: add inverse rotate example function
2015-12-29 10:46:34 -08:00
Jonathan Challinger
7ed8b3814f
AP_Math: add rotate_inverse to Vector3
2015-12-29 10:46:34 -08:00
Lucas De Marchi
a096703b06
Global: don't link with AP_Progmem
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AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Lucas De Marchi
502077d763
AP_Math: stop using Progmem.h
2015-12-27 15:58:12 -02:00
José Roberto de Souza
d74bd533c8
AP_Math: Add function to convert frequency to/from microseconds
2015-12-16 08:18:17 +11:00
José Roberto de Souza
38575dd87a
AP_Math: Fix parameter name in nsec_to_hz()
2015-12-16 08:18:17 +11:00
Jonathan Challinger
0a701088d4
AP_Math: fix bug in Quaternion::operator*=
2015-12-14 11:15:33 +09:00
Jonathan Challinger
fff275fd99
AP_Math: add wrap_2PI
2015-12-09 19:58:25 +09:00
Tom Pittenger
f8b0a6a977
AP_Math: compiler warnings - undeclared function
2015-12-07 16:05:00 +09:00
Tom Pittenger
103af93ec3
AP_Math: compiler warnings - float compare to constant (zero)
2015-12-07 16:04:59 +09:00
Lucas De Marchi
f5c03c786d
AP_Math: remove unused AP_ADC_AnalogSource
2015-12-03 13:32:43 +11:00
Gustavo Jose de Sousa
eef784fbe6
AP_Math: add benchmark for matrix multiplication
2015-12-03 07:54:31 +11:00
Gustavo Jose de Sousa
4266e924d0
AP_Math: add unit test for vector rotations
...
This unit test already shows that rotation is wrong for
ROTATION_YAW_293_PITCH_68_ROLL_90.
2015-12-03 07:54:31 +11:00
Caio Marcelo de Oliveira Filho
6e7b73610d
waf: add waf support
2015-12-03 07:54:30 +11:00
Lucas De Marchi
aa9168e0e9
AP_Math: remove unused maxf()
2015-12-01 16:28:18 -02:00
Lucas De Marchi
6f88fba8e5
AP_Math: remove unused minf()
2015-12-01 16:28:18 -02:00
Lucas De Marchi
e0a0514c79
AP_Math: turn MIN/MAX macros into inline functions
...
The problem with the current MIN/MAX macros is that they evaluate twice
the arguments. For example, these cases provide unintended results:
// a is incremented twice
a = MIN(a++, b);
// foo() with side-effects
a = MIN(foo(), b);
The alternative implementation here was provided by Daniel Frenzel using
template function. It doesn't have type safety as std::min and std::max,
but adding type safety would mean to check case by case what would be a
reasonable type and add proper casts. Here the arguments for MIN and MAX
can have different types and the return type is deduced from the
expression in the function.
Inspecting the current callers no place was found with the unintended
results above, but some in which now we don't calculate twice the
parameters will benefit from this new version. Examples:
float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius));
float acro_level_mix = constrain_float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch()
accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f));
track_leash_slack = MIN(_track_leash_length*(leash_z-track_error_z)/leash_z, _track_leash_length*(leash_xy-track_error_xy)/leash_xy);
RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, MIN(MAX(ground_speed * _pump_pct_1ms, 100 *_pump_min_pct),10000),0,10000);
2015-12-01 16:28:18 -02:00
Lucas De Marchi
2591261af6
Global: rename min and max macros to uppercase
...
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
Caio Marcelo de Oliveira Filho
8257e6ab89
AP_Math: examples use millis/micros/panic functions
2015-11-20 12:31:55 +09:00
Andrew Tridgell
8f4ce7f20b
build: removed all nocore.inoflag files
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these were APM2 specific
2015-11-16 08:05:17 +11:00
José Roberto de Souza
d53911e3f6
AP_Math: Add functions to convert microseconds to/from nanoseconds
2015-11-10 17:05:34 +11:00
José Roberto de Souza
ca533a9d94
AP_Math: Add functions to convert frequency to/from nanoseconds
2015-11-10 17:05:34 +11:00
Lucas De Marchi
fb28f426da
AP_Math: remove check for AVR CPUs
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Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
Lucas De Marchi
c7871d1bca
AP_Math: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:12 +11:00
Lucas De Marchi
5244559010
Minimize AP_Progmem.h includes
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Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
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This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi
6f4904189b
Replace use of println_P() with println()
2015-10-30 14:35:22 +09:00
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi
2c38e31c93
Remove use of PSTR
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The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Caio Marcelo de Oliveira Filho
5020db4481
AP_Math: remove unnecessary includes
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Remove unnecessary includes, in particular the includes for specific
boards. The list of libraries for 'polygon' example was updated so that
the example compiles again.
2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c
build: compile only the HAL files needed by the board
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Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
...
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Andrew Tridgell
c9ec8b3f67
AP_Math: added O3 optimisation to core math libraries
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this costs some flash space but speeds things up considerably
2015-10-20 14:36:53 +11:00
Randy Mackay
6145794da2
AP_Math: remove duplicate RADIUS_OF_EARTH definition
2015-10-05 21:00:14 +09:00
Randy Mackay
39340e70f8
Math: add Vector2 is_zero method
2015-09-16 15:10:25 +09:00
Valmantas Palikša
d4daf19151
AP_Math: Move simple math function implementations to header for better
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compile time optimization
Functions like sq() are better moved to the header file as inline.
Compiler can then optimize these out when used in code, this saves cpu
cycles with stack push, pop during function calls.
2015-09-09 09:57:51 +10:00
Tom Pittenger
4771d19073
AP_Math: added locations_are_same(loc1,loc2) helper
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returns true if lat and lng are the same, ignores alt and options
2015-09-08 17:05:54 +10:00
Siddharth Bharat Purohit
1ffbffa0e7
AP_Math: check if failed to allocate memory
2015-09-03 16:59:14 +10:00
Gustavo Jose de Sousa
46774136a6
AP_Compass: 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.
2015-09-03 16:59:13 +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
Lucas De Marchi
0471de2342
AP_Math: use ARRAY_SIZE macro
2015-07-21 14:25:09 +09:00
Lucas De Marchi
fb2eb262e7
AP_Math: use ARRAY_SIZE instead of defining another one
2015-07-21 14:24:49 +09:00
Andrew Tridgell
6009ae55b1
AP_Math: fixed build of eulers example sketch
2015-07-17 08:24:49 +10:00
Andrew Tridgell
8f41d97548
AP_Math: fixed build error on PX4
...
variable set but not used with recent longitude_scale change
2015-07-06 08:19:57 +10:00
Andrew Tridgell
099392d3ca
AP_Math: don't optimise longitude_scale on faster CPUs
...
it causes problems with replay
2015-07-05 17:27:53 +10:00
Andrew Tridgell
3edac37929
AP_Math: removed unused include in example
2015-06-01 17:35:03 +10:00
Andrew Tridgell
4d040bbb94
AP_Math: convert example from .pde to .cpp
2015-06-01 17:07:04 +10:00
Andrew Tridgell
2b828a794e
AP_Math: fixed example build
2015-06-01 16:36:54 +10:00
Randy Mackay
114c4f4077
AP_Match: fix example sketch
2015-05-27 09:47:24 +09:00
Andrew Tridgell
2a8f645d81
AP_Math: use matrix3 euler312 operations in quaternion library
2015-05-25 09:08:31 +10:00
Andrew Tridgell
7aa7e03169
AP_Math: added euler312 functions (for gimbal)
2015-05-25 09:03:11 +10:00
Andrew Tridgell
605b8b4ece
AP_Math: converted rotations example to cpp
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this is just a test conversion before we start converting on-mass
2015-05-21 13:41:20 +10:00
Andrew Tridgell
062c9406bd
AP_Math: fixed rotations example build
2015-05-21 13:37:44 +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
e20ffa8c75
AP_Math: replace fabs() with fabsf()
2015-05-09 09:57:27 +10:00
Randy Mackay
9dede2f0ec
Math: remove duplicate HALF_SQRT_2 definition
2015-05-05 14:23:14 +09:00
Andrew Tridgell
77a2b4acf6
AP_Math: removed fast_atan
2015-05-05 13:57:22 +10:00
Andrew Tridgell
0b897e04bb
AP_Math: revert AP_Math class change
2015-05-05 13:27:06 +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
330e4126bb
Ap_Math: compile warnings: float to double. use atan2f instead of atan2
2015-05-05 13:27:00 +10:00
Tom Pittenger
820f0bf02a
AP_Math: compiler warnings: float to double promotion
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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
1c3ad00aa7
AP_Math: compiler warnings: use double for the constant so the template can handle it
2015-05-05 13:26:57 +10:00
Tom Pittenger
6e6f481ecb
AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:56 +10:00
Tom Pittenger
35f7a466e5
AP_Math: compiler warnings: apply is_zero(float) or is_equal(float)
2015-05-05 13:26:52 +10:00
Tom Pittenger
a5d2f3a82f
AP_Math: compiler warnings: float to double
2015-05-05 13:26:52 +10:00
Tom Pittenger
ac4e7b2b03
AP_Math: compiler warnings: apply is_equal(float)
2015-05-05 13:26:51 +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
Tom Pittenger
bdda11b327
AP_Math: compiler warning: is_zero special case for vector3.h in a template
2015-05-05 13:26:50 +10:00
Andrew Tridgell
eca675c556
AP_Math: fix for HAL_SITL rename
2015-05-05 09:45:55 +10:00
Andrew Tridgell
24b051565b
AP_Math: added normalize() method to Matrix3f
2015-05-05 09:45:52 +10:00
Randy Mackay
fecbf06008
AP_Math: fix example sketches
2015-05-01 20:57:38 +09:00
Randy Mackay
eaedeeb7bf
AP_Math: add quaternion.initialise
2015-05-01 16:37:34 +09:00
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
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
Tom Pittenger
a8dda9f2ed
AP_Math: fix compile warnings re float constants
2015-04-24 14:03:54 +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
Andrew Tridgell
728dbf24db
AP_Math: fixed vector inequality test
...
many thanks to cat888
fixes issue #2039
2015-04-01 20:40:37 -07:00
Grant Morphett
300a02f4e4
AP_Math: Changes to fix the warnings in rover sitl build.
...
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
2015-02-11 18:16:46 +11:00
Jonathan Challinger
5f7480b740
AP_Math: change fast_atan2 to use atan2f on fast CPUs
2015-02-09 22:24:09 +09:00
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
Randy Mackay
689cc9e298
AP_Math: fix example sketch
2015-01-28 17:15:43 +09:00
Andrew Tridgell
fefdc37a4d
AP_Math: fixed warnings on bounds checking in quaternion
2015-01-09 11:04:50 +11:00
Andrew Tridgell
6bb4a8c361
AP_Math: make location_path_proportion() and location_passed_point() more efficient
...
the dot product is much more efficient than the trigonometry. Thanks
to Paul for the suggestion
2015-01-03 14:06:59 +11:00
Jonathan Challinger
9e5a30d5ba
AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90
2015-01-02 17:15:18 +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
Andrew Tridgell
38c5f25c70
AP_Math: fixed example build
2014-11-25 13:22:17 +11:00
Andrew Tridgell
8d54368650
AP_Math: fixed build warning
2014-11-25 08:17:15 +11:00
Randy Mackay
503d14428d
AP_Math: add new rotation to example rotation sketch
2014-11-22 14:10:00 +09:00
Randy Mackay
3d2c9910b3
AP_Math: add yaw 293, pitch 68, roll 180 rotation
2014-11-22 14:09:16 +09:00
Jonathan Challinger
cdd2199138
AP_Math: expand frame transformation test case for quaternions
2014-10-20 06:24:33 +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
70845882a7
AP_Math: fix up rotation test suite
2014-10-20 06:24:27 +11:00
Jonathan Challinger
1f7e393e38
AP_Math: refactor quaternion library
2014-10-20 06:24:22 +11:00
Andrew Tridgell
184c4c8ac5
AP_Math: fixed example build
2014-08-13 22:12:04 +10:00
Andrew Tridgell
917c9f7865
AP_Math: fixed example build
2014-08-13 21:48:35 +10:00
Daniel Frenzel
b1a9d6bbcc
AP_Math: Using const references in matrix3
...
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
2014-08-11 09:24:05 +10:00
Andrew Tridgell
b92873cab1
AP_Math: prevent negative longitude scaling
...
for crazy locations
2014-08-07 09:30:02 +10:00
Andrew Tridgell
03dc27147e
AP_Math: port examples to Linux
2014-07-29 15:49:38 +10:00
Andrew Tridgell
aa5940c378
AP_Math: fixed example build
2014-07-25 17:51:30 +10:00
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
Andrew Tridgell
7e5a491f14
AP_Math: prevent a floating point exception
2014-04-21 15:37:08 +10:00
Andrew Tridgell
e566802bf3
AP_Math: fixed example build
2014-04-07 07:37:34 +10:00
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
Andrew Tridgell
9278685cdf
AP_Math: fixed location build on SITL
2014-04-01 14:20:10 +11:00
Andrew Tridgell
acd54d0826
AP_Math: fixed example build
2014-03-19 12:13:48 +09:00
Andrew Tridgell
009913ec60
AP_Math: make is_nan const for quaternion and add .zero() for vector2
2014-02-21 20:24:47 +11:00
Andrew Tridgell
599c3a8abf
AP_Math: added more operators to VectorN
2014-02-19 10:14:58 +11:00
Andrew Tridgell
2df314799e
AP_Math: added tests for quaternion to/from rotation matrix
2014-02-15 12:20:51 +11:00
Andrew Tridgell
689f230d40
AP_Math: added quaternion.from_rotation_matrix()
2014-02-15 12:20:31 +11:00
Andrew Tridgell
c1dff6aa65
AP_Math: fixed example build
2014-02-15 06:39:43 +11:00
Andrew Tridgell
1e0f3f5398
AP_Math: make to_euler() const
2014-02-15 05:27:51 +11:00
Andrew Tridgell
90c41981ac
AP_Math: added quaternion normalization
2014-02-15 05:27:51 +11:00
Randy Mackay
37cfbc9ad5
AP_Math: float versions of wrap_360 and wrap_180
2014-02-15 05:27:45 +11:00
Randy Mackay
a963ec7e3b
AP_Math: bug fix to wrap_360 and wrap_180
...
angles above 720deg and below 3200deg might not have been properly
wrapped.
wrap_360_cd could return 36000 when really this should be wrapped back
to zero.
2014-02-03 12:56:56 +09:00
Andrew Tridgell
93070a673e
AP_Math: fixed example build
2014-01-30 13:33:46 +11:00
Andrew Tridgell
0d174db05b
AP_Math: added equality operator for VectorN
2014-01-24 10:37:08 +11:00
Paul Riseborough
f2c2811ef3
AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters
2014-01-19 07:19:43 +11:00
Andrew Tridgell
4c99d09265
AP_Math: fixed build of vectorN class on PX4
2013-12-31 10:28:27 +11:00
Andrew Tridgell
96df09fd08
AP_Math: add const to quaternion API
2013-12-30 14:33:17 +11:00
Andrew Tridgell
2e9744d0b3
AP_Math: prevent transpose usage error in matrix API
2013-12-30 14:33:17 +11:00
Andrew Tridgell
2c1e0ba130
AP_Math: added vectorN class, and index checking
2013-12-30 14:33:17 +11:00
Andrew Tridgell
828eed1984
AP_Math: allow vector3 and matrix3 objects to be used as arrays
2013-12-29 18:39:09 +11:00
Andrew Tridgell
9b5b4ced60
AP_Math: fixed example build
2013-12-17 11:51:37 +11:00
Andrew Tridgell
57d5345774
AP_Math: added M_PI_F define
2013-12-11 10:22:47 +11:00
Andrew Tridgell
db400ffa51
AP_Math: added is_zero() method to Vector3
2013-12-09 17:34:06 +11:00
Andrew Tridgell
d2deee07df
AP_Math: fixed zero function for integer vectors
2013-11-07 12:48:16 +11:00
Andrew Tridgell
fb19dbb404
AP_Math: cope with large values passed into the wrap functions
...
this uses modulus if the function would loop too many times
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2013-10-03 12:21:07 +10:00
Andrew Tridgell
18896d9c9b
AP_Math: fixed DOS CR/LF errors
2013-09-19 16:26:32 +10:00
Andrew Tridgell
84ed2141a0
AP_Math: fixed float rounding in location_offset()
...
this prevents rounding of positions in the rover code
2013-09-16 11:38:55 +10:00
Andrew Tridgell
97b7130bb9
libraries: update license header to GPLv3
...
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
Andrew Tridgell
873e54deb1
AP_Math: fixed example build
2013-08-30 13:01:39 +10:00
Andrew Tridgell
4c752e4a94
AP_Math: simplify rotations test code
2013-08-30 13:01:34 +10:00
Andrew Tridgell
e2b0e07973
AP_Math: removed unused matrix rotation code
...
we only need to rotate vectors
2013-08-30 13:01:34 +10:00
Andrew Tridgell
a295a01bbc
AP_Math: added missing 90 degree rotations
...
this ensures we can handle all 90 degree rotations of the compass and
main board. A test in examples/rotations shows that we have them all.
2013-08-30 13:01:33 +10:00
Andrew Tridgell
2b1fcc964f
AP_Math: added a quick test of floating point location accuracy
...
just confirming some maths ...
2013-08-30 13:01:32 +10:00
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
9cb6c987d4
AP_Math: fixed example build
2013-08-05 12:37:51 +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
Andrew Tridgell
468e55d425
AP_Math: added two new vector/matrix ops for kalman airspeed filter
2013-07-22 12:50:00 +10:00
Randy Mackay
540ca25b84
AP_Math: add rotateXY
2013-07-20 17:59:06 +09:00
Randy Mackay
bd6a60f28b
AP_Math: add M_PI_2 definition
...
Required when building under arduino
2013-07-14 15:57:26 +09:00
Andrew Tridgell
8c49ed78a5
AP_Math: make the rotation numbers easier to find
2013-07-08 12:17:59 +10:00
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
737f0305ef
AP_Math: implement vector2 cross product
...
useful in DCM for faster yaw correction
2013-05-05 13:47:51 +10:00
Andrew Tridgell
f4189e083b
AP_Math: added mulXY() for matrix3 and vector3
...
returns the XY components of the product
2013-05-05 13:47:23 +10:00
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
83dc7dbc92
AP_Math: handle NaN in constrain(), returning average
...
this makes it less likely a NaN will propogate
2013-04-15 14:28:51 +10:00
Andrew Tridgell
43c3c60de2
AP_Math: moved a lot of vector templates to cpp from .h
...
this reduces the code size quite a lot on AVR
2013-04-12 12:48:08 +10:00
Andrew Tridgell
78eb12a4ac
AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH
2013-04-12 12:48:08 +10:00
Andrew Tridgell
8b119934ea
AP_Math: fixed grammar error
2013-04-12 12:48:08 +10:00
Andrew Tridgell
2d29a6a7be
AP_Math: added Vector2f.angle()
...
useful for calculating the vector in polar coordinates
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
374af1cd14
build: change from Arduino.mk to apm.mk
2013-01-02 17:29:37 +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
d8bed0c2aa
AP_Math: fixed get_distance() function
2012-12-20 14:53:23 +11:00
Andrew Tridgell
a072afa223
AP_Math: expand some macros into functions
...
this saves some flash
2012-12-20 14:52:38 +11:00
Andrew Tridgell
a1187519a8
AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches
2012-12-20 14:52:37 +11:00
Andrew Tridgell
a76688e630
Math: fixed example warnings
2012-12-20 14:52:36 +11:00
Pat Hickey
eb530b86e8
move Arduino.mk to /mk/Arduino.mk
2012-12-20 14:52:35 +11:00
Andrew Tridgell
7d27e420ae
AP_HAL: remove unnecessary Arduino.h includes
2012-12-20 14:52:30 +11:00
Pat Hickey
475da4eca4
CONFIG_HAL_BOARD - test sketches fixed up, build all passes
2012-12-20 14:51:37 +11:00
Pat Hickey
a4f1f6a5db
AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR
2012-12-20 14:51:28 +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
rmackay9
56f88821e9
AP_AHRS: fix example sketch
...
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
2012-11-08 00:08:18 +09:00
rmackay9
3fd07805a7
AP_Math: added rotation method accuracy test to example sketch
2012-11-04 13:05:37 +09:00
rmackay9
d6324b3964
AP_Math: fix compile errors example sketches
2012-11-04 11:55:59 +09:00
uncrustify
652b490345
uncrustify libraries/AP_Math/vector2.h
2012-08-21 19:03:34 -07:00
uncrustify
97994a4e3a
uncrustify libraries/AP_Math/AP_Math.h
2012-08-21 19:03:34 -07:00
uncrustify
7e19ae5868
uncrustify libraries/AP_Math/matrix3.h
2012-08-21 19:03:34 -07:00
uncrustify
9bb0b42f28
uncrustify libraries/AP_Math/rotations.h
2012-08-21 19:03:34 -07:00
uncrustify
57d4db2be4
uncrustify libraries/AP_Math/vector3.h
2012-08-21 19:03:34 -07:00
uncrustify
d50c606c97
uncrustify libraries/AP_Math/quaternion.h
2012-08-21 19:03:34 -07:00
uncrustify
9ccb38260d
uncrustify libraries/AP_Math/polygon.h
2012-08-21 19:03:34 -07:00
uncrustify
533860dd73
uncrustify libraries/AP_Math/AP_Math.cpp
2012-08-21 19:03:34 -07:00
uncrustify
b5bee9deff
uncrustify libraries/AP_Math/polygon.cpp
2012-08-21 19:03:34 -07:00
uncrustify
a208fbb2d9
uncrustify libraries/AP_Math/vector3.cpp
2012-08-21 19:03:34 -07:00
uncrustify
424baf3f29
uncrustify libraries/AP_Math/quaternion.cpp
2012-08-21 19:03:33 -07:00
uncrustify
d6e803fd3c
uncrustify libraries/AP_Math/matrix3.cpp
2012-08-21 19:03:33 -07:00
uncrustify
64eaadb332
uncrustify libraries/AP_Math/location.cpp
2012-08-21 19:03:33 -07:00
uncrustify
d0d401581f
uncrustify libraries/AP_Math/examples/location/location.pde
2012-08-21 19:03:33 -07:00
uncrustify
52dbb56bf0
uncrustify libraries/AP_Math/examples/rotations/rotations.pde
2012-08-21 19:03:33 -07:00
uncrustify
87c263fbb9
uncrustify libraries/AP_Math/examples/polygon/polygon.pde
2012-08-21 19:03:33 -07:00
uncrustify
86627c9a9d
uncrustify libraries/AP_Math/examples/eulers/eulers.pde
2012-08-21 19:03:33 -07:00
Andrew Tridgell
6300fa7399
math: more abs() fixes
...
abs() is 16 bit
2012-08-16 15:17:42 +10:00
Jason Short
a66e43aff1
Location Lib : Abs was overflowing causing bad comparison
2012-08-15 22:01:51 -07:00
Jason Short
ff38dadd00
Location Lib. Potential fix for bad angle and distance calcs.
...
last_lat changed to int32_t since it can be negative.
2012-08-15 21:36:55 -07:00
Andrew Tridgell
0ba57d05eb
AP_Math: added matrix column extraction functions
2012-08-11 22:06:02 +10:00
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
2a7b298bbc
MAVLink: moved mavlink variables back to library
...
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
2012-08-09 12:06:21 +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
1cd8c54f21
AP_Math: cope with co-located waypoints in location_passed_point()
2012-07-04 14:24:04 +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
fe865bc1dc
Math: added comment
2012-06-27 16:01:49 +10:00
Andrew Tridgell
c30b0d85a3
Math: moved more template functions to the .cpp files
...
save a bit more code space for larger functions
2012-06-27 16:01:49 +10:00
Andrew Tridgell
22ff8cb197
examples: fixed build of some examples with new AP_Declination code
2012-03-30 14:25:27 +11:00
Andrew Tridgell
a6d66dc45b
Math: added mul_transpose() operation
...
this is equivalent to multiplying by m.transposed(), but is more
efficient
2012-03-23 16:48:52 +11:00
Andrew Tridgell
fe55a76335
Math: moved matrix multiple operations to .cpp file
...
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space
We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
2012-03-21 10:43:48 +11:00
Andrew Tridgell
17fbb8ea26
Math: fixed the build of the eulers test in SITL
2012-03-21 10:41:55 +11:00
Andrew Tridgell
17f7292fe9
Math: added a test for the rotate() method
2012-03-19 17:29:02 +11:00
Andrew Tridgell
c16b353ea7
Math: added rotate() method to Matrix3f
...
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
2012-03-19 17:29:02 +11:00
Andrew Tridgell
31e566475b
Math: added zero() and identity() methods to Matrix3f
2012-03-19 17:29:02 +11:00
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
af9ce0cfc9
Math: allow eulers test to build with AP_Declination library
2012-03-19 17:29:02 +11:00
Andrew Tridgell
72a761170b
Math: fixed build of eulers test on SITL
2012-03-19 17:29:02 +11:00
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
0ec9857689
Math: any euler angle with pitch > 90 is invalid
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both DCM and quaternion always return pitch in the range -90 to 90
2012-03-11 15:37:07 +11:00
Andrew Tridgell
4d3789d11c
AP_Math: update the test suite
2012-03-11 15:37:07 +11:00
Andrew Tridgell
4422486d44
AP_Math: made rotation matrices more C++
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thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
Andrew Tridgell
5c6368bad3
AP_Math: allow null pointers in Quaternion::to_euler()
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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
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thanks to Adam for the suggestion!
2012-03-11 15:37:07 +11:00
Andrew Tridgell
55aa43a70d
Math: added a test suite for the new rotation methods
2012-03-11 15:37:07 +11:00
Andrew Tridgell
289c64c0b9
Math: added vector3.rotate() and matrix3.rotation() methods
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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
a92fb67b70
AP_Math: expanded the math test suite
2012-03-10 10:34:31 +11:00
Andrew Tridgell
4d65cda0ea
AP_Math: added quaternion->matrix and earth frame routines
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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()
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better to test the result, than predict it
2012-03-10 10:34:31 +11:00
Andrew Tridgell
1ec4c0777c
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
Andrew Tridgell
f5e6dc0757
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +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
145fc91701
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
Andrew Tridgell
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
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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
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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
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
Andrew Tridgell
17170da96e
AP_Math: added is_nan() methods to vector3f and matrix3f
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
11b8d56434
added comment in polygon code
2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7568db237
fixed comment
2011-12-19 20:52:59 +11:00
Andrew Tridgell
6efa2e53cb
AP_Math: re-work polygon algorithm for perfect precision
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using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
2011-12-19 18:52:56 +11:00
Andrew Tridgell
a3a0e5646f
polygon: improve the speed and precision of the polygon algorithm
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now takes 156 usec per test, with a 11 point boundary
2011-12-18 12:59:50 +11:00
Andrew Tridgell
42522baf9f
geofence: store fence points as int32_t
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this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
Andrew Tridgell
9b6bab8904
AP_Math: better polygon algorithm
...
this one seems to do better with single precision floating point
2011-12-16 20:11:51 +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
85e295332f
AP_Math: added Polygon_complete() function
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used to veryify user supplied boundaries
2011-12-15 14:42:34 +11:00
Andrew Tridgell
117a98f9a2
AP_Math: added a Polygon_outside() function
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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
James Goppert
0c7c508541
Optional recursion added.
2011-09-30 17:17:51 -04:00
James Goppert
5489b84f8e
Improvements to cmake.
2011-09-29 21:23:26 -04:00
James Goppert
d887a28b91
Added ArduBoat/ ArduRover/ and APO library.
2011-09-29 14:12:15 -04:00
unknown
a4e001bbcf
Adding CMake support
2011-09-14 15:44:55 +02:00
jasonshort
7521ceed61
Vector3<T>() { x = y = x = 0; }
...
changed to :
Vector3<T>() { x = y = z = 0; }
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2600 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 16:31:31 +00:00
DrZiplok@gmail.com
f10cbb011f
::transposed does not change the matrix; make it const.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:26:05 +00:00
DrZiplok@gmail.com
75e78dabae
Back out the memset optimisation. It helps with code size but causes inexplicable link-time failures (undefined references to __cxa_pure_virtual).
...
Thank you very much Mr GCC. Can I have my evening back?
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1352 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 03:09:29 +00:00
DrZiplok@gmail.com
290635b354
Minor code size optimisation; use memset to zero *this rather than explicitly assigning zero to the vector elements. Still not quite optimal for matrix3 as it gets three memsets, but still cheaper in terms of code size.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1212 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-20 01:52:23 +00:00
rmackay9@yahoo.com
e930dacb4d
AP_Math - initialise vector2 and vector3 x,y,z values to zero. Doug found (and I confirmed) that if vectors or matrices were declared in a function (i.e. a local variable), they would often have non-zero values. Global declarations don't have this problem - it's a C++ performance thing it seems.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@878 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-22 02:29:15 +00:00
rmackay9@yahoo.com
8708675b1f
added constructor with 9 elements to matrix3.h
...
corrected matrix * vector function.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@551 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-25 02:43:11 +00:00
DrZiplok@gmail.com
7721e622aa
Rather than subclassing from the templated classes, just typedef directly to them.
...
This should solve the issues related to assigning to the convenience types.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@543 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-23 05:45:43 +00:00
rmackay9@yahoo.com
15e6469ca9
added downcasting to MATRIX3_CTORS. this fixes some problems with setting the results from a formula to a variable (i..e m1 = m2*2).
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@541 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-23 05:39:50 +00:00
rmackay9@yahoo.com
b3e1b6c57d
minor corrections to the operator *= and constructor so that matrix can be more easily created from vector objects
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@540 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-23 03:14:15 +00:00
DrZiplok@gmail.com
ac2e14c4ec
Remove a bunch of probably wrong const cruft. Ditch the dubious array index operators from vector2.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@538 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-22 17:41:49 +00:00
DrZiplok@gmail.com
815e5f871a
Remove the trivial operator= implementations, the default shallow copy is fine.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@537 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-22 16:32:38 +00:00
DrZiplok@gmail.com
646045ef44
Some minor fixes prompted while looking at the code for other reasons.
...
Return non-const values from assignment. Fix operator* for matrix3.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@536 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-22 16:15:26 +00:00
DrZiplok@gmail.com
b918f21567
Replace the questionable rotation operation with a conventional transposition.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@442 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-08 08:41:29 +00:00
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