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60 Commits

Author SHA1 Message Date
Andrew Tridgell c19554e23a AP_Math: added Vector3i comparison 2023-01-24 11:16:39 +11:00
Andrew Tridgell 5470c6435e AP_Math: rename * operator for vector3f * matrix3f 2022-09-11 07:57:16 +10:00
xianglunkai 4513546845 vector3:return w1 not zero vector 2022-03-29 08:26:39 +09:00
Iampete1 7a6f57ccf1 AP_Math: add support for AP_CustomRotations 2022-03-02 18:16:42 +11:00
Andy Piper 87a369727a AP_Math: specialize float and double functions to use fabsf() and simple comparison otherwise 2022-02-13 14:43:37 +11:00
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
Andrew Tridgell 168e860f70 AP_Math: fixed a few more single precision calls 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
Andrew Tridgell fe4abc521a AP_Math: make vector3 xy() method return a reference 2021-06-24 20:28:45 +10:00
Andrew Tridgell f19b604a0c AP_Math: added xy() method on Vector3 
useful for getting xy length
 2021-06-13 07:50:02 +10:00
Rishabh 547f0efd57 AP_Math: Add segment to plane intersection function 2021-06-12 13:31:52 +09:00
Leonard Hall 5c47c0a131 AP_Math: Fix before squash 2021-05-24 20:13:37 +10:00
Andrew Tridgell 53e5bef0c2 AP_Math: added rotate_xy to Vector3f 
this makes it easy to rotate a vector3f in xy plane for earth/body
navigation
 2021-05-24 20:13:37 +10:00
Randy Mackay e2b46d05dc AP_Math: Vector2,3 get limit_length methods 2021-04-03 12:07:59 +09:00
Rishabh 1262d73071 AP_Math: Add new methods to support 3D avoidance 2021-02-01 14:34:13 +09:00
Rishabh 79d5e432ee AP_Math: Add new method to extrapolate 3D vector given distance, yaw, pitch 2021-02-01 14:34:13 +09:00
Andrew Tridgell 720f9a1de0 AP_Math: cleanup maths functions 
use class template instantiation, and cleanup const in matrix code
 2021-01-21 13:09:21 +11:00
Rishabh 0779cf436e AP_Math: Added function to calculate shortest distance betwwen point and line segment in 3D 2020-06-19 09:45:34 +09:00
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 338548c5eb AP_Math: move HALF_SQRT_2 def to rotation.h 
This allows it to be used by the Quaternion class
 2020-04-09 19:41:08 +09:00
Andrew Tridgell 13a2367278 AP_Math: change optimisation from -O3 to -O2 2019-09-28 08:57:26 +10:00
Andrew Tridgell e2eda63d2c AP_Math: added new rotation for PITCH_7 2019-05-29 17:12:32 +10:00
Pierre Kancir f1270b4b22 AP_Math: const correctness 2018-12-22 08:39:06 +09:00
Michael du Breuil 48610ea0a0 AP_Math: Remove an unneeded safe_sqrtf, leverage is_zero 2018-11-07 10:43:28 +11:00
Jacob Walser f97ac4af30 AP_Math: add custom rotation option 2018-04-24 13:04:37 +01:00
Jacob Walser e738f33770 AP_Math: Add ROTATION_PITCH_315 and ROTATION_ROLL_90_PITCH_315 2018-04-24 13:04:37 +01:00
Randy Mackay 2aa1f3f100 AP_Math: replace divide with multiply in distance_to_segment 2017-09-09 14:05:41 +09:00
Randy Mackay e892bbbac0 AP_Math: add Vector3f::distance_to_segment 2017-09-09 14:05:41 +09:00
Lucas De Marchi 008ac0a2a8 AP_Math: remove unused double instantiation 2017-02-06 09:27:22 -08:00
Andrew Tridgell b00fd95725 AP_Math: define Vector3l for += op 2016-11-09 17:08:13 +11:00
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
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
Andrew Tridgell 16e0a6d7b0 AP_Math: fixed angle between two vector3s 2016-01-01 12:41:05 +11:00
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 7ed8b3814f AP_Math: add rotate_inverse to Vector3 2015-12-29 10:46:34 -08:00
Lucas De Marchi fb28f426da AP_Math: remove check for AVR CPUs 
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
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 0b897e04bb AP_Math: revert AP_Math class change 2015-05-05 13:27:06 +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 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 ac4e7b2b03 AP_Math: compiler warnings: apply is_equal(float) 2015-05-05 13:26:51 +10:00
Andrew Tridgell 728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00
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 8d54368650 AP_Math: fixed build warning 2014-11-25 08:17:15 +11:00
Randy Mackay 3d2c9910b3 AP_Math: add yaw 293, pitch 68, roll 180 rotation 2014-11-22 14:09:16 +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
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