9 Commits

Author	SHA1	Message	Date
Andrew Tridgell	b6040878b4	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	6d08e38d5d	AP_Math: made rotation matrices more C++ ... thanks to Adam for the suggestion	2012-03-11 15:37:07 +11:00
Andrew Tridgell	a9b8c4dd82	AP_Math: re-work quaternion functions to be more C++ like ... thanks to Adam for the suggestion!	2012-03-11 15:37:07 +11:00
Andrew Tridgell	a8fd31a5e1	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	d3dc5bd751	AP_Math: better way of handling safe_sqrt() ... better to test the result, than predict it	2012-03-10 10:34:31 +11:00
Andrew Tridgell	f2e6714598	AP_Math: added quaternion helper functions and a test suite	2012-03-10 10:34:30 +11:00
Andrew Tridgell	df6013616e	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	8190204287	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	1a32ececb4	AP_Math: added a safe_asin() function ... this adds range checking to asin()	2012-02-24 11:52:55 +11:00