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
0ec9857689
Math: any euler angle with pitch > 90 is invalid
...
both DCM and quaternion always return pitch in the range -90 to 90
2012-03-11 15:37:07 +11:00
4d3789d11c
AP_Math: update the test suite
2012-03-11 15:37:07 +11:00
4422486d44
AP_Math: made rotation matrices more C++
...
thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
5c6368bad3
AP_Math: allow null pointers in Quaternion::to_euler()
...
this matches the Matrix3f method
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
55aa43a70d
Math: added a test suite for the new rotation methods
2012-03-11 15:37:07 +11:00
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
a92fb67b70
AP_Math: expanded the math test suite
2012-03-10 10:34:31 +11:00
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
8abbbe5713
AP_Math: better way of handling safe_sqrt()
...
better to test the result, than predict it
2012-03-10 10:34:31 +11:00
1ec4c0777c
Math: added comment on quaternion constructor
2012-03-10 10:34:30 +11:00
f5e6dc0757
Math: added is_inf() on vector3f
2012-03-10 10:34:30 +11:00
c7d5f06b21
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +11:00
145fc91701
AP_Math: added a .zero() method to Vector3f
2012-03-10 10:34:28 +11:00
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
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
...
this adds range checking to asin()
2012-02-24 11:52:55 +11:00
17170da96e
AP_Math: added is_nan() methods to vector3f and matrix3f
2012-02-24 11:52:55 +11:00
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
11b8d56434
added comment in polygon code
2011-12-21 23:31:38 +11:00
e7568db237
fixed comment
2011-12-19 20:52:59 +11:00
6efa2e53cb
AP_Math: re-work polygon algorithm for perfect precision
...
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
a3a0e5646f
polygon: improve the speed and precision of the polygon algorithm
...
now takes 156 usec per test, with a 11 point boundary
2011-12-18 12:59:50 +11:00
42522baf9f
geofence: store fence points as int32_t
...
this keeps maximum precision in fence boundaries
2011-12-16 20:11:51 +11:00
9b6bab8904
AP_Math: better polygon algorithm
...
this one seems to do better with single precision floating point
2011-12-16 20:11:51 +11:00
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
85e295332f
AP_Math: added Polygon_complete() function
...
used to veryify user supplied boundaries
2011-12-15 14:42:34 +11:00
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
0c7c508541
Optional recursion added.
2011-09-30 17:17:51 -04:00
5489b84f8e
Improvements to cmake.
2011-09-29 21:23:26 -04:00
d887a28b91
Added ArduBoat/ ArduRover/ and APO library.
2011-09-29 14:12:15 -04:00
a4e001bbcf
Adding CMake support
2011-09-14 15:44:55 +02:00
7521ceed61
Vector3<T>() { x = y = x = 0; }
...
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
f10cbb011f
::transposed does not change the matrix; make it const.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:26:05 +00:00
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
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
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
8708675b1f
added constructor with 9 elements to matrix3.h
...
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.
...
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).
...
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
...
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.
...
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.
...
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.
...
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.
...
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.
...
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