6d08e38d5d
AP_Math: made rotation matrices more C++
...
thanks to Adam for the suggestion
2012-03-11 15:37:07 +11:00
a9b8c4dd82
AP_Math: re-work quaternion functions to be more C++ like
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thanks to Adam for the suggestion!
2012-03-11 15:37:07 +11:00
85c3c1d2ea
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
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
f2e6714598
AP_Math: added quaternion helper functions and a test suite
2012-03-10 10:34:30 +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
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
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
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
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
DrZiplok@gmail.com