Commit Graph

7 Commits

Author SHA1 Message Date
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 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 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 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 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