Commit Graph

357 Commits

Author SHA1 Message Date
Tom Pittenger 00aaa78757 AP_Math: add separate check_lat() and check_lng() 2016-06-06 13:02:56 -07:00
Andrew Tridgell 3969bde84a AP_Math: fixed coverity warning in example 2016-06-05 07:20:46 +10:00
Peter Barker cb16d0b6c6 AP_Math: correct examples build on px4 2016-06-04 12:31:36 -03:00
Tom Pittenger 7b4c503052 AP_Math: use new check_latlng helper 2016-06-01 17:38:48 -07:00
Tom Pittenger ce9ecf9f3d AP_Math: added check_latlng helper 2016-06-01 17:38:48 -07:00
Gustavo Jose de Sousa ef61096e08 AP_Math: geodesic_grid tool: show triangle number for sections too 2016-05-18 13:28:52 -03:00
Gustavo Jose de Sousa a6deb65d95 AP_Math: geodesic_grid tool: add option --section 2016-05-18 13:28:52 -03:00
Lucas De Marchi 1ac712fa65 AP_Math: fix is_zero() after template conversion 2016-05-17 15:49:29 -07:00
Lucas De Marchi fa6f2c6b67 AP_Math: fix some coding style mistakes
- fix alignement of &
    - remove const from bool arguments
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 390b196eda AP_Math: AP_GeodesicGrid: add notice for auto generated code 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b3068baa11 AP_Math: add geodesic_grid toolset
That was used to aid development AP_GeodesicGrid and understanding its
concepts.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 9d34b3b996 AP_Math: AP_GeodesicGrid: make all methods static
Since all members are.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 3b05ec1157 AP_Math: make vectors and matrix constructors constexpr
That allows some object to be constructed at compile time.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 77223a7fcb AP_Math: AP_GeodesicGrid: make data static
That gives the change of storing that data in flash storage in some
architectures. That doesn't happen yet though, some extra changes are required
for that to happen.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa fd2428db34 AP_Math: AP_GeodesicGrid: reduce number of _neighbor_umbrellas items
Only the first half is necessary. The values for the other half can be derived.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 43d9e00ab7 AP_Math: AP_GeodesicGrid: use uint8_t for _neighbor_umbrellas
All integers there are limited to the range [0,20), so uint8_t is enough.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 54889e4175 AP_Math: AP_GeodesicGrid: reduce number of inverses by half
We don't actually need all of them, since the second half is for the opposite
triangles. In that case we just need to negate the resulting vector when
changing basis.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa f31161ecb6 AP_Math: AP_GeodesicGrid: remove triangles
There's no need to keep those triangles, since we just need the inverses.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b34c04a4f9 AP_Math: test_geodesic_grid: test also non-centroid vectors 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 8e8ab3af96 AP_Math: AP_GeodesicGrid: remove section_triangle() function
That function was only being used by the unit tests and the benchmark. In order
to remove memory usage, the triangles will be removed, since we don't actually
need to keep them in real situations. Thus, this patch removes that function
and copy those triangles to the test and benchmark.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa c7eb46fae2 AP_Math: AP_GeodesicGrid: optimize _from_neighbor_umbrella()
This is the second optimization. With that we don't have to iterate over the
umbrella's components.

The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:

       | Naive implementation | First Optimization | Second Optimization
------------------------------------------------------------------------
Min.   |                 26.0 |              28.00 |                26.0
1st Qu.|                 78.0 |              48.75 |                39.0
Median |                132.0 |              57.00 |                41.0
Mean   |                130.1 |              61.20 |                41.6
3rd Qu.|                182.2 |              76.00 |                47.0
Max.   |                234.0 |              98.00 |                54.0
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa eb90ef23a1 AP_Math: AP_GeodesicGrid: fix algorithm for null vector
If v is the null vector, then alpha * v is still the null vector for any alpha
as a real number. That means that the null vector doesn't cross any section.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa c28c3265c8 AP_Math: AP_GeodesicGrid: optimize with neighbor umbrellas
This is a first optimization of the algorithm. The struct for the neighbor
umbrella has only one member, but new members will be added in the next
optimization.

The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:

Cases  | Naive implementation | First Optimization
--------------------------------------------------
Min.   |                 26.0 |              28.00
1st Qu.|                 78.0 |              48.75
Median |                132.0 |              57.00
Mean   |                130.1 |              61.20
3rd Qu.|                182.2 |              76.00
Max.   |                234.0 |              98.00

This optimization reduces the mean time for the worst case (Max. line) by more
than 50%.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 0ff05b7af3 AP_Math: test_geodesic_grid: test triangles indexes
That helps figuring out which intermediate step failed the high level call.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 4398e1e49b AP_Math: AP_GeodesicGrid: change order of triangles
- Change the order of the icosahedron triangles so that there's a uniform way of
finding the opposite triangle. The order visually still makes sense.

 - Change test to accommodate the order change.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa ea412ad629 AP_Math: benchmark_geodesic_grid: add benchmark
That will help to benchmark improvements on the section search algorithm.
2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 797a2da031 AP_Math: test_geodesic_grid: test when inclusive=true 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b299261ad4 AP_Math: AP_GeodesicGrid: add first implementation
The search for the geodesic section is still naive in this version.
Additionally, add unit tests.
2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 3f2ad764ca AP_Math: Matrix3: add inverse() and invert() functions
Additionally, add unit tests.
2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 06eea2838f AP_Math: Matrix3: add det() function
Function to calculate determinant. Additionally, add unit tests.
2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 26959f1448 AP_Math: define golden ratio constant 2016-05-16 19:08:35 -03:00
dgrat 7ff8004f8f AP_Math: Replace is_zero() with a template function
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
Ricardo de Almeida Gonzaga 481e3a2af6 AP_Math: Fix typos 2016-05-13 19:20:06 -03:00
Lucas De Marchi 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
Lucas De Marchi bd6e268122 AP_Math: fix coding style
- cleanup whitespace
  - function reorder
  - fix brace position
2016-05-10 11:41:26 -03:00
Lucas De Marchi 1dbffef7ea AP_Math: remove trailing whitespace on headers 2016-05-10 11:41:26 -03:00
Lucas De Marchi ab1fa4b435 AP_Math: reorganize headers
Sort and add pragma once where needed.
2016-05-10 11:41:26 -03:00
dgrat 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
dgrat 503867b7dc AP_Math: Replace safe_sqrt() by template function 2016-05-10 11:41:26 -03:00
dgrat 5deb0e8e03 AP_Math: Replace safe_asin() by template function 2016-05-10 11:41:26 -03:00
Lucas De Marchi 846b4927ec AP_Math: use if/else chain instead of 2 ternary operators 2016-05-10 11:41:26 -03:00
dgrat 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
Lucas De Marchi 348b07609c AP_Math: remove macros from unit tests
Avoid warnings like:

[2130/2168] Compiling libraries/AP_Math/tests/test_math.cpp
../../libraries/AP_Math/tests/test_math.cpp: In member function ‘virtual void MathTest_IsZero_Test::TestBody()’:
../../libraries/AP_Math/tests/test_math.cpp:73:196: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
../../libraries/AP_Math/tests/test_math.cpp:74:199: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]

Use EXPECT_TRUE() and EXPECT_FALSE() from gtest instead.
2016-05-10 11:41:26 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template
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
Lucas De Marchi 880f130670 AP_Math: fix loss of precision on float addition
When using wrap_180_cd() we are adding a small float (180 * 100) to a
possibly big number. This may lose float precision as illustrated by the
unit test failing:

    OUT: ../../libraries/AP_Math/tests/test_math.cpp:195: Failure
    OUT: Value of: wrap_180_cd(-3600000000.f)
    OUT:   Actual: -80
    OUT: Expected: 0.f
    OUT: Which is: 0
2016-05-10 11:41:26 -03:00
dgrat 76362caee0 AP_Math: Replace wrap_* functions with template versions 2016-05-10 11:41:26 -03:00
dgrat 49cfd6fd9b AP_Math: Add gtest support for some functions
These functions (or variants thereof) now have unit tests:

  - is_zero()
  - is_equal()
  - sq()
  - pythagorous()
  - constrain()
  - wrap_180()
  - wrap_360()

Some tests in wrap_180_cd are failing: -180 should be wrapped to 180,
not -180.
2016-05-10 11:41:26 -03:00
Lucas De Marchi ceea7540fd AP_Math: rename test file
This will be reused for more math tests.
2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa b594b5a08b AP_Math: matrix_alg: disable FE_OVERFLOW in inverse4x4() for SITL
There are occasional overflows on the determinant calculation in inverse4x4()
when using calibration SITL model.
2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa a7543d369f AP_Math: matrix_alg: protect inverseixi() against overflow
Fail on inverse3x3() and inverse4x4() if there's float overflow during the
determinant calculation.
2016-05-10 16:16:37 +10:00