477b31fb0d
Math: added mul_transpose() operation
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this is equivalent to multiplying by m.transposed(), but is more
efficient
2012-03-23 16:48:52 +11:00
fb9790e1f4
Math: moved matrix multiple operations to .cpp file
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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
7d155c77b1
Math: added rotate() method to Matrix3f
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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
b6040878b4
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
2012-03-19 17:29:02 +11:00
6d08e38d5d
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
85c3c1d2ea
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