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20 Commits

Author SHA1 Message Date
Andrew Tridgell
009913ec60 AP_Math: make is_nan const for quaternion and add .zero() for vector2 2014-02-21 20:24:47 +11:00
Andrew Tridgell
97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell
5024da2695 AP_Math: fixed indent-tabs-mode 2013-05-30 09:51:51 +10:00
Andrew Tridgell
737f0305ef AP_Math: implement vector2 cross product 
useful in DCM for faster yaw correction
 2013-05-05 13:47:51 +10:00
Andrew Tridgell
43c3c60de2 AP_Math: moved a lot of vector templates to cpp from .h 
this reduces the code size quite a lot on AVR
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
2d29a6a7be AP_Math: added Vector2f.angle() 
useful for calculating the vector in polar coordinates
 2013-04-12 12:48:08 +10:00
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell
a072afa223 AP_Math: expand some macros into functions 
this saves some flash
 2012-12-20 14:52:38 +11:00
uncrustify
652b490345 uncrustify libraries/AP_Math/vector2.h 2012-08-21 19:03:34 -07:00
Andrew Tridgell
468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +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
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
DrZiplok@gmail.com
75e78dabae Back out the memset optimisation. It helps with code size but causes inexplicable link-time failures (undefined references to __cxa_pure_virtual). 
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
DrZiplok@gmail.com
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. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1212 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-20 01:52:23 +00:00
rmackay9@yahoo.com
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. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@878 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-22 02:29:15 +00:00
DrZiplok@gmail.com
7721e622aa Rather than subclassing from the templated classes, just typedef directly to them. 
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
DrZiplok@gmail.com
ac2e14c4ec Remove a bunch of probably wrong const cruft. Ditch the dubious array index operators from vector2. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@538 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-22 17:41:49 +00:00
DrZiplok@gmail.com
815e5f871a Remove the trivial operator= implementations, the default shallow copy is fine. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@537 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-22 16:32:38 +00:00
DrZiplok@gmail.com
646045ef44 Some minor fixes prompted while looking at the code for other reasons. 
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
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