Commit Graph

110 Commits

Author SHA1 Message Date
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
Andrew Tridgell 4d65cda0ea AP_Math: added quaternion->matrix and earth frame routines
this will be used for 3d acceleration
2012-03-10 10:34:31 +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 16ed8bc8f6 AP_Math: added rotmat <-> euler functions
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
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
this adds range checking to asin()
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 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 117a98f9a2 AP_Math: added a Polygon_outside() function
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
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