b39323bf1b
AP_Math: expanded the math test suite
2012-03-10 10:34:31 +11:00
a8fd31a5e1
AP_Math: added quaternion->matrix and earth frame routines
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this will be used for 3d acceleration
2012-03-10 10:34:31 +11:00
d3dc5bd751
AP_Math: better way of handling safe_sqrt()
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better to test the result, than predict it
2012-03-10 10:34:31 +11:00
d24b055b66
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
1f5095e722
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +11:00
f2e6714598
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
de32c3bc31
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
df6013616e
AP_Math: added rotmat <-> euler functions
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these will make the dcm matrix manipulation easier to understand
2012-02-24 11:52:55 +11:00
8190204287
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
2012-02-24 11:52:55 +11:00
1a32ececb4
AP_Math: added a safe_asin() function
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this adds range checking to asin()
2012-02-24 11:52:55 +11:00
7dd909a16b
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
2b8f0c3a48
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
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this avoids us needing AP_Math.h in every utility sketch and example
2012-02-18 10:51:57 +11:00
845683a56c
added comment in polygon code
2011-12-21 23:31:38 +11:00
b52cd45670
fixed comment
2011-12-19 20:52:59 +11:00
7c9c26e2b7
AP_Math: re-work polygon algorithm for perfect precision
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using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
2011-12-19 18:52:56 +11:00
7442ba31d8
polygon: improve the speed and precision of the polygon algorithm
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now takes 156 usec per test, with a 11 point boundary
2011-12-18 12:59:50 +11:00
1ab2b416a3
geofence: store fence points as int32_t
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this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
3ddfc6664a
AP_Math: better polygon algorithm
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this one seems to do better with single precision floating point
2011-12-16 20:11:51 +11:00
338fb1642a
AP_Math: make out vector and matrix elements used types with fixed sizes
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this prevents differences between CPU types
2011-12-16 20:09:11 +11:00
f4bd3cb5a2
AP_Math: added Polygon_complete() function
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used to veryify user supplied boundaries
2011-12-15 14:42:34 +11:00
cd9fb3c47a
AP_Math: added a Polygon_outside() function
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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
ac3e73f5c0
Optional recursion added.
2011-09-30 17:17:51 -04:00
112d5e9531
Improvements to cmake.
2011-09-29 21:23:26 -04:00
3a00ceb593
Added ArduBoat/ ArduRover/ and APO library.
2011-09-29 14:12:15 -04:00
9f028bb5a0
Adding CMake support
2011-09-14 15:44:55 +02:00
d090f92b66
Vector3<T>() { x = y = x = 0; }
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changed to :
Vector3<T>() { x = y = z = 0; }
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2600 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-06-20 16:31:31 +00:00
dee05d1838
::transposed does not change the matrix; make it const.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:26:05 +00:00
b006aa6179
Back out the memset optimisation. It helps with code size but causes inexplicable link-time failures (undefined references to __cxa_pure_virtual).
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Thank you very much Mr GCC. Can I have my evening back?
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1352 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-29 03:09:29 +00:00
290635b354
Minor code size optimisation; use memset to zero *this rather than explicitly assigning zero to the vector elements. Still not quite optimal for matrix3 as it gets three memsets, but still cheaper in terms of code size.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1212 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-20 01:52:23 +00:00
e930dacb4d
AP_Math - initialise vector2 and vector3 x,y,z values to zero. Doug found (and I confirmed) that if vectors or matrices were declared in a function (i.e. a local variable), they would often have non-zero values. Global declarations don't have this problem - it's a C++ performance thing it seems.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@878 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-22 02:29:15 +00:00
8708675b1f
added constructor with 9 elements to matrix3.h
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corrected matrix * vector function.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@551 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-25 02:43:11 +00:00
7721e622aa
Rather than subclassing from the templated classes, just typedef directly to them.
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This should solve the issues related to assigning to the convenience types.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@543 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-23 05:45:43 +00:00
15e6469ca9
added downcasting to MATRIX3_CTORS. this fixes some problems with setting the results from a formula to a variable (i..e m1 = m2*2).
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@541 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-23 05:39:50 +00:00
b3e1b6c57d
minor corrections to the operator *= and constructor so that matrix can be more easily created from vector objects
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@540 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-23 03:14:15 +00:00
ac2e14c4ec
Remove a bunch of probably wrong const cruft. Ditch the dubious array index operators from vector2.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@538 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-22 17:41:49 +00:00
815e5f871a
Remove the trivial operator= implementations, the default shallow copy is fine.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@537 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-22 16:32:38 +00:00
646045ef44
Some minor fixes prompted while looking at the code for other reasons.
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Return non-const values from assignment. Fix operator* for matrix3.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@536 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-22 16:15:26 +00:00
b918f21567
Replace the questionable rotation operation with a conventional transposition.
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git-svn-id: https://arducopter.googlecode.com/svn/trunk@442 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-09-08 08:41:29 +00:00
097161cd8d
Beginnings of a math library for ArduPilot(Mega) systems.
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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
Andrew Tridgell
James Goppert
unknown
jasonshort
DrZiplok@gmail.com
rmackay9@yahoo.com