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19 Commits

Author SHA1 Message Date
Andrew Tridgell 87fca1985f AP_Math: added location_update() and location_offset() functions 
these will be used by AHRS dead reckoning
 2012-08-11 11:56:54 +10:00
Andrew Tridgell 8ae35cae1c AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious 2012-08-08 12:12:30 +10:00
Andrew Tridgell a72f6acef6 AP_Math: added get_distance_cm() to return in centimeters 2012-07-11 07:49:05 +10:00
Andrew Tridgell 468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell 0bdce404a5 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell dd200cba31 Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
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 9f0cb78f08 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 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