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57 Commits

Author SHA1 Message Date
Andrew Tridgell
c2ff66c9cd examples: fixed build of some examples with new AP_Declination code 2012-03-30 14:25:27 +11:00
Andrew Tridgell
477b31fb0d Math: added mul_transpose() operation 
this is equivalent to multiplying by m.transposed(), but is more
efficient
 2012-03-23 16:48:52 +11:00
Andrew Tridgell
fb9790e1f4 Math: moved matrix multiple operations to .cpp file 
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
 2012-03-21 10:43:48 +11:00
Andrew Tridgell
ece2aac4b9 Math: fixed the build of the eulers test in SITL 2012-03-21 10:41:55 +11:00
Andrew Tridgell
9a40b4b1de Math: added a test for the rotate() method 2012-03-19 17:29:02 +11:00
Andrew Tridgell
7d155c77b1 Math: added rotate() method to Matrix3f 
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
a41281ab7f Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +11:00
Andrew Tridgell
df79703ed1 Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
c87b945fd2 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell
39067299a5 Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell
b6040878b4 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
cc1961b1e8 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
Andrew Tridgell
01535a7a21 AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell
6d08e38d5d AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
92ada85f49 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
a9b8c4dd82 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
24a9fe8827 Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell
85c3c1d2ea 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
b39323bf1b AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell
a8fd31a5e1 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
d3dc5bd751 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell
d24b055b66 Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell
1f5095e722 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f2e6714598 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell
de32c3bc31 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell
df6013616e 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
8190204287 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
1a32ececb4 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
7dd909a16b AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Andrew Tridgell
2b8f0c3a48 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
845683a56c added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
b52cd45670 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell
7c9c26e2b7 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
Andrew Tridgell
7442ba31d8 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
Andrew Tridgell
1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
3ddfc6664a AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
338fb1642a 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
f4bd3cb5a2 AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell
cd9fb3c47a 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
James Goppert
ac3e73f5c0 Optional recursion added. 2011-09-30 17:17:51 -04:00
James Goppert
112d5e9531 Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert
3a00ceb593 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
unknown
9f028bb5a0 Adding CMake support 2011-09-14 15:44:55 +02:00
jasonshort
d090f92b66 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
DrZiplok@gmail.com
dee05d1838 ::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
DrZiplok@gmail.com
b006aa6179 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
rmackay9@yahoo.com
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
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