5a15413513
AP_Math: Add is_negative and is_positive helpers
2017-05-24 15:22:27 -07:00
607220d12b
AP_Math: rename macros to avoid conflicts
...
these macros were also defined in NuttX in clock.h
2017-05-06 15:21:14 +10:00
2fcecaa7c5
AP_Math: added rand_float()
2017-05-03 20:12:04 +10:00
da49149d19
AP_Math: is_equal correct comparison for integer as epsilon doesn't exist.
...
Credit to Kwikius for the right solution
2016-12-20 14:09:04 +00:00
ce734b5f7b
AP_Math: Remove unecessary check
2016-12-19 14:36:03 +00:00
a8d10e8c2c
AP_Math: added get_random16()
2016-12-02 09:49:38 +11:00
0d4caa3ccc
AP_Math: remove declaration of not implemented functions
2016-08-03 00:16:35 -03:00
1ac712fa65
AP_Math: fix is_zero() after template conversion
2016-05-17 15:49:29 -07:00
7ff8004f8f
AP_Math: Replace is_zero() with a template function
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This function only makes sense for floating point types. However this
function was also used for ints.
2016-05-16 19:08:35 -03:00
aa974399d0
AP_Math: use inline wrappers for constrain_* functions
...
This avoids some warnings about "constrain_float defined but not used"
in some compilers.
2016-05-11 22:51:19 -03:00
bd6e268122
AP_Math: fix coding style
...
- cleanup whitespace
- function reorder
- fix brace position
2016-05-10 11:41:26 -03:00
ab1fa4b435
AP_Math: reorganize headers
...
Sort and add pragma once where needed.
2016-05-10 11:41:26 -03:00
6d3b491c02
AP_Math: Replace is_equal with a type safe template function
...
It makes sense to consider also other floating point types.
2016-05-10 11:41:26 -03:00
503867b7dc
AP_Math: Replace safe_sqrt() by template function
2016-05-10 11:41:26 -03:00
5deb0e8e03
AP_Math: Replace safe_asin() by template function
2016-05-10 11:41:26 -03:00
174f899a29
AP_Math: Replace the constrain_* functions by a single template
...
Besides being simpler this reduces ~4k in the binary size for PX4.
2016-05-10 11:41:26 -03:00
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
76362caee0
AP_Math: Replace wrap_* functions with template versions
2016-05-10 11:41:26 -03:00
e8142b0b5b
AP_Math: added wrap_360()
2016-05-07 18:27:21 +10:00
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
6bff07397e
AP_Math: added linear_interpolate() function
2016-04-02 22:44:47 +11:00
672acdc8ef
AP_Math: Created location.h header for location functions
...
Helps to order AP_Math functions by purpose.
2016-02-27 02:51:33 -03:00
5148e41c1a
AP_Math: Cleaned macro definitions
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Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
7c4c8ea579
AP_Math: Remove ROTATION_COMBINATION_SUPPORT
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This function is not used.
2016-02-27 02:51:33 -03:00
ead51a9d19
AP_Math: Removed useless "undef INLINE"
2016-02-25 02:10:39 -03:00
ef7cf7c4aa
AP_Math: Removed useless header
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"float.h" does not exist. It is useless and wrong to include it.
2016-02-25 02:10:39 -03:00
80bc7a50d7
AP_Math: define MATH_CHECK_INDEXES
...
Wrapped in ifndefs so the top-level Makefile can override
Assume MATH_CHECK_INDEXES is always defined
2016-02-19 12:34:23 -02:00
60af7a6087
AP_Math: removed matrix3 parameter support
2016-01-04 11:14:43 +11:00
1a4b4fa85e
AP_Math: add inverse matrix test to check if inverse(mat)*mat = I
...
where I is an identity matrix (a matrix with diagonal elements = 1)
2015-12-29 10:46:35 -08:00
d74bd533c8
AP_Math: Add function to convert frequency to/from microseconds
2015-12-16 08:18:17 +11:00
38575dd87a
AP_Math: Fix parameter name in nsec_to_hz()
2015-12-16 08:18:17 +11:00
fff275fd99
AP_Math: add wrap_2PI
2015-12-09 19:58:25 +09:00
f8b0a6a977
AP_Math: compiler warnings - undeclared function
2015-12-07 16:05:00 +09:00
aa9168e0e9
AP_Math: remove unused maxf()
2015-12-01 16:28:18 -02:00
6f88fba8e5
AP_Math: remove unused minf()
2015-12-01 16:28:18 -02:00
e0a0514c79
AP_Math: turn MIN/MAX macros into inline functions
...
The problem with the current MIN/MAX macros is that they evaluate twice
the arguments. For example, these cases provide unintended results:
// a is incremented twice
a = MIN(a++, b);
// foo() with side-effects
a = MIN(foo(), b);
The alternative implementation here was provided by Daniel Frenzel using
template function. It doesn't have type safety as std::min and std::max,
but adding type safety would mean to check case by case what would be a
reasonable type and add proper casts. Here the arguments for MIN and MAX
can have different types and the return type is deduced from the
expression in the function.
Inspecting the current callers no place was found with the unintended
results above, but some in which now we don't calculate twice the
parameters will benefit from this new version. Examples:
float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius));
float acro_level_mix = constrain_float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch()
accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f));
track_leash_slack = MIN(_track_leash_length*(leash_z-track_error_z)/leash_z, _track_leash_length*(leash_xy-track_error_xy)/leash_xy);
RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, MIN(MAX(ground_speed * _pump_pct_1ms, 100 *_pump_min_pct),10000),0,10000);
2015-12-01 16:28:18 -02:00
2591261af6
Global: rename min and max macros to uppercase
...
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
d53911e3f6
AP_Math: Add functions to convert microseconds to/from nanoseconds
2015-11-10 17:05:34 +11:00
ca533a9d94
AP_Math: Add functions to convert frequency to/from nanoseconds
2015-11-10 17:05:34 +11:00
fb28f426da
AP_Math: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
c7871d1bca
AP_Math: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:12 +11:00
d4daf19151
AP_Math: Move simple math function implementations to header for better
...
compile time optimization
Functions like sq() are better moved to the header file as inline.
Compiler can then optimize these out when used in code, this saves cpu
cycles with stack push, pop during function calls.
2015-09-09 09:57:51 +10:00
4771d19073
AP_Math: added locations_are_same(loc1,loc2) helper
...
returns true if lat and lng are the same, ignores alt and options
2015-09-08 17:05:54 +10:00
1c100498d4
AP_Math: use is_zero instead of defining our own epsilon
2015-09-03 16:59:13 +10:00
b654b1c21b
AP_Math: add inverse matrix to math library
2015-09-03 16:59:12 +10:00
46c652e42f
Math: maxf and minf functions
2015-08-19 16:44:34 +09:00
4790371f9b
AP_Math: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:38:18 +10:00
77a2b4acf6
AP_Math: removed fast_atan
2015-05-05 13:57:22 +10:00
936fbbb362
AP_Math: removed AP_Math class
2015-05-05 13:27:03 +10:00
4ec2fb3a9c
AP_Math: Compiler warnings: nuke fast_atan2()
...
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM
ccd578664f (commitcomment-11025083)
2015-05-05 13:27:02 +10:00
820f0bf02a
AP_Math: compiler warnings: float to double promotion
...
cast as float because we're in magical template land where T minus T means promote to double
2015-05-05 13:26:58 +10:00
c93c773de2
AP_Math: change is_equal and is_zero to static class for better visability
2015-05-05 13:26:50 +10:00
0392292489
AP_Math: inline is_equal, add is_zero
2015-04-28 16:19:01 +09:00
726d7df710
AP_Math: add is_equal to compare floats
2015-04-28 16:18:59 +09:00
f38f86ab8c
AP_Math: added location_path_proportion()
...
this can be used for glide slope calculations
2015-01-01 15:17:10 +11:00
398f32d538
AP_Math: Comments on WGS coordinate conversions
2014-06-30 10:29:56 +10:00
17374ff5e8
AP_Math: fast_atan2
...
This is 126us per call vs 199us on the AVR. it is accurate to about
0.28 degrees
Committed by rmackay9 but contribution is from David Dewey
2014-06-06 18:50:41 +09:00
879eb5936b
AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices
2014-04-05 13:42:23 +11:00
37cfbc9ad5
AP_Math: float versions of wrap_360 and wrap_180
2014-02-15 05:27:45 +11:00
57d5345774
AP_Math: added M_PI_F define
2013-12-11 10:22:47 +11:00
5434b2c017
AP_Math: update location code to avoid float rounding
...
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.
This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
2013-08-13 12:07:34 +10:00
1d75b52411
AP_Math: use const references not pointers for location functions
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this makes life a bit easier for the new AP_Mission library
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
2013-08-05 10:23:40 +10:00
bd6a60f28b
AP_Math: add M_PI_2 definition
...
Required when building under arduino
2013-07-14 15:57:26 +09:00
8b87849acd
Math: add wrap_PI
2013-06-01 18:21:29 +09:00
d81b7b507d
Math: add Leonard's fast tan function
2013-05-30 18:24:32 +09:00
5024da2695
AP_Math: fixed indent-tabs-mode
2013-05-30 09:51:51 +10:00
7c9d9b9800
AP_Math: use DEG_TO_RAD in longitude_scale
...
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
2013-05-05 14:31:24 +09:00
ba83950fc4
libraries: replace constrain() with constrain_float()
...
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
2013-05-02 10:25:40 +10:00
e1f9297551
AP_Math: move print_latlon() to location.cpp
2013-04-20 13:52:36 +10:00
78eb12a4ac
AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH
2013-04-12 12:48:08 +10:00
217b8d7a59
cleanup: use const for struct Location pointers and references
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this allows the compiler to generate more efficient code
2013-04-09 12:10:32 +10:00
091b474a1d
AP_Math: added wrap_360_cd() and wrap_180_cd()
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moved from per-vehicle code
2013-03-29 13:13:37 +11:00
7729ec950e
AP_Math: longitude_scale function made public
...
Added LATLON_TO_M and LATLON_TO_CM #defines
2013-01-27 23:21:39 +09:00
d2767b911c
AP_Math: switch get_distance_cm to return uint32_t
...
Includes changes required on ArduCopter and ArduPlane side as well
2013-01-26 17:04:12 +09:00
4fa7bb1486
Add AVR compatibility header for missing math.h definitions.
...
- Define float versions of math functions to the double versions
on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
2013-01-16 13:52:17 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
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- 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
38062bbb6d
AP_Math: support some more rotation combinations
2013-01-13 17:32:48 +11:00
eb74fddd9f
AP_Math: added global GRAVITY_MSS define
2013-01-02 14:45:08 +11:00
e7b915b0f4
AP_Math: fixed error comment
2012-12-22 12:52:42 +11:00
a072afa223
AP_Math: expand some macros into functions
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this saves some flash
2012-12-20 14:52:38 +11:00
7dbe198e5c
AP_Math: port to work on coreless arduino (AP_HAL)
2012-12-20 14:51:24 +11:00
3f1d9d7f69
AP_Param: #include <AP_Param.h> fixups for libraries & sketches
...
* I mostly went through with grep and added an #include <AP_Param.h> below
every #include <AP_Common.h>. Not all of these example sketches might
strictly need AP_Param.
2012-12-20 14:51:19 +11:00
97994a4e3a
uncrustify libraries/AP_Math/AP_Math.h
2012-08-21 19:03:34 -07:00
87fca1985f
AP_Math: added location_update() and location_offset() functions
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these will be used by AHRS dead reckoning
2012-08-11 11:56:54 +10:00
8ae35cae1c
AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious
2012-08-08 12:12:30 +10:00
a72f6acef6
AP_Math: added get_distance_cm() to return in centimeters
2012-07-11 07:49:05 +10:00
468dfe3faa
AP_Math: the windows arduino build is missing acosf()
2012-07-04 14:14:58 +10:00
0bdce404a5
AP_Math: add include of math.h
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this is needed for location.cpp
2012-07-04 13:59:23 +10:00
dd200cba31
Math: added location functions to math library
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these do common calculations on struct Location
2012-07-04 12:42:46 +10:00
58a68c89d9
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
2012-03-19 17:29:02 +11:00
4422486d44
AP_Math: made rotation matrices more C++
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thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
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
289c64c0b9
Math: added vector3.rotate() and matrix3.rotation() methods
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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
4d65cda0ea
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
c7d5f06b21
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
16ed8bc8f6
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
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
502fbf6e17
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
882cd4ea83
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
62e92f406e
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
Michael du Breuil
Andrew Tridgell
Pierre Kancir
Lucas De Marchi
dgrat
Ricardo de Almeida Gonzaga
Daniel Frenzel
Peter Barker
bugobliterator
José Roberto de Souza
Jonathan Challinger
Tom Pittenger
Valmantas Palikša
Randy Mackay
Gustavo Jose de Sousa
Niels Joubert
David Dewey
Andrew Tridgell
tobias
James Bielman
Pat Hickey
uncrustify