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445 Commits

Author SHA1 Message Date
Andrew Tridgell
c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Randy Mackay
6145794da2 AP_Math: remove duplicate RADIUS_OF_EARTH definition 2015-10-05 21:00:14 +09:00
Randy Mackay
39340e70f8 Math: add Vector2 is_zero method 2015-09-16 15:10:25 +09:00
Valmantas Palikša
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
Tom Pittenger
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
Siddharth Bharat Purohit
1ffbffa0e7 AP_Math: check if failed to allocate memory 2015-09-03 16:59:14 +10:00
Gustavo Jose de Sousa
46774136a6 AP_Compass: 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.
 2015-09-03 16:59:13 +10:00
Jonathan Challinger
1c100498d4 AP_Math: use is_zero instead of defining our own epsilon 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit
b654b1c21b AP_Math: add inverse matrix to math library 2015-09-03 16:59:12 +10:00
Randy Mackay
46c652e42f Math: maxf and minf functions 2015-08-19 16:44:34 +09:00
Gustavo Jose de Sousa
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
Lucas De Marchi
0471de2342 AP_Math: use ARRAY_SIZE macro 2015-07-21 14:25:09 +09:00
Lucas De Marchi
fb2eb262e7 AP_Math: use ARRAY_SIZE instead of defining another one 2015-07-21 14:24:49 +09:00
Andrew Tridgell
6009ae55b1 AP_Math: fixed build of eulers example sketch 2015-07-17 08:24:49 +10:00
Andrew Tridgell
8f41d97548 AP_Math: fixed build error on PX4 
variable set but not used with recent longitude_scale change
 2015-07-06 08:19:57 +10:00
Andrew Tridgell
099392d3ca AP_Math: don't optimise longitude_scale on faster CPUs 
it causes problems with replay
 2015-07-05 17:27:53 +10:00
Andrew Tridgell
3edac37929 AP_Math: removed unused include in example 2015-06-01 17:35:03 +10:00
Andrew Tridgell
4d040bbb94 AP_Math: convert example from .pde to .cpp 2015-06-01 17:07:04 +10:00
Andrew Tridgell
2b828a794e AP_Math: fixed example build 2015-06-01 16:36:54 +10:00
Randy Mackay
114c4f4077 AP_Match: fix example sketch 2015-05-27 09:47:24 +09:00
Andrew Tridgell
2a8f645d81 AP_Math: use matrix3 euler312 operations in quaternion library 2015-05-25 09:08:31 +10:00
Andrew Tridgell
7aa7e03169 AP_Math: added euler312 functions (for gimbal) 2015-05-25 09:03:11 +10:00
Andrew Tridgell
605b8b4ece AP_Math: converted rotations example to cpp 
this is just a test conversion before we start converting on-mass
 2015-05-21 13:41:20 +10:00
Andrew Tridgell
062c9406bd AP_Math: fixed rotations example build 2015-05-21 13:37:44 +10:00
Tom Pittenger
5f677c2b5b AP_Math: float to double promotion via cos instead of cosf 2015-05-16 08:21:49 +10:00
Tom Pittenger
e20ffa8c75 AP_Math: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Randy Mackay
9dede2f0ec Math: remove duplicate HALF_SQRT_2 definition 2015-05-05 14:23:14 +09:00
Andrew Tridgell
77a2b4acf6 AP_Math: removed fast_atan 2015-05-05 13:57:22 +10:00
Andrew Tridgell
0b897e04bb AP_Math: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell
936fbbb362 AP_Math: removed AP_Math class 2015-05-05 13:27:03 +10:00
Tom Pittenger
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
Tom Pittenger
330e4126bb Ap_Math: compile warnings: float to double. use atan2f instead of atan2 2015-05-05 13:27:00 +10:00
Tom Pittenger
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
Tom Pittenger
1c3ad00aa7 AP_Math: compiler warnings: use double for the constant so the template can handle it 2015-05-05 13:26:57 +10:00
Tom Pittenger
6e6f481ecb AP_Math: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:56 +10:00
Tom Pittenger
35f7a466e5 AP_Math: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:52 +10:00
Tom Pittenger
a5d2f3a82f AP_Math: compiler warnings: float to double 2015-05-05 13:26:52 +10:00
Tom Pittenger
ac4e7b2b03 AP_Math: compiler warnings: apply is_equal(float) 2015-05-05 13:26:51 +10:00
Tom Pittenger
c93c773de2 AP_Math: change is_equal and is_zero to static class for better visability 2015-05-05 13:26:50 +10:00
Tom Pittenger
bdda11b327 AP_Math: compiler warning: is_zero special case for vector3.h in a template 2015-05-05 13:26:50 +10:00
Andrew Tridgell
eca675c556 AP_Math: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell
24b051565b AP_Math: added normalize() method to Matrix3f 2015-05-05 09:45:52 +10:00
Randy Mackay
fecbf06008 AP_Math: fix example sketches 2015-05-01 20:57:38 +09:00
Randy Mackay
eaedeeb7bf AP_Math: add quaternion.initialise 2015-05-01 16:37:34 +09:00
Randy Mackay
0392292489 AP_Math: inline is_equal, add is_zero 2015-04-28 16:19:01 +09:00
dgrat
726d7df710 AP_Math: add is_equal to compare floats 2015-04-28 16:18:59 +09:00
Jonathan Challinger
3812773485 AP_Math: make quaternion divide by zero protection more conservative 2015-04-28 11:42:13 +10:00
Jonathan Challinger
fb8da1b2d8 AP_Math: add get_euler_(roll|pitch|yaw) functions to quaternion 2015-04-28 11:42:13 +10:00
Tom Pittenger
10c933966b AP_Math: fix compile warning re float constants 2015-04-24 14:25:02 +09:00
Tom Pittenger
a8dda9f2ed AP_Math: fix compile warnings re float constants 2015-04-24 14:03:54 +09:00
Jonathan Challinger
6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger
a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger
07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Andrew Tridgell
728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00
Grant Morphett
300a02f4e4 AP_Math: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Jonathan Challinger
5f7480b740 AP_Math: change fast_atan2 to use atan2f on fast CPUs 2015-02-09 22:24:09 +09:00
Paul Riseborough
255252f387 AP_Math: Fix bug in quaternion division 2015-02-03 09:49:16 +11:00
Paul Riseborough
17445d03f0 AP_Math: Add quaternion division 2015-02-03 09:49:16 +11:00
Randy Mackay
689cc9e298 AP_Math: fix example sketch 2015-01-28 17:15:43 +09:00
Andrew Tridgell
fefdc37a4d AP_Math: fixed warnings on bounds checking in quaternion 2015-01-09 11:04:50 +11:00
Andrew Tridgell
6bb4a8c361 AP_Math: make location_path_proportion() and location_passed_point() more efficient 
the dot product is much more efficient than the trigonometry. Thanks
to Paul for the suggestion
 2015-01-03 14:06:59 +11:00
Jonathan Challinger
9e5a30d5ba AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90 2015-01-02 17:15:18 +09:00
Andrew Tridgell
f38f86ab8c AP_Math: added location_path_proportion() 
this can be used for glide slope calculations
 2015-01-01 15:17:10 +11:00
Andrew Tridgell
38c5f25c70 AP_Math: fixed example build 2014-11-25 13:22:17 +11:00
Andrew Tridgell
8d54368650 AP_Math: fixed build warning 2014-11-25 08:17:15 +11:00
Randy Mackay
503d14428d AP_Math: add new rotation to example rotation sketch 2014-11-22 14:10:00 +09:00
Randy Mackay
3d2c9910b3 AP_Math: add yaw 293, pitch 68, roll 180 rotation 2014-11-22 14:09:16 +09:00
Jonathan Challinger
cdd2199138 AP_Math: expand frame transformation test case for quaternions 2014-10-20 06:24:33 +11:00
Jonathan Challinger
3befe74afa AP_Math: change quaternion class to use const references where optimal 2014-10-20 06:24:30 +11:00
Jonathan Challinger
70845882a7 AP_Math: fix up rotation test suite 2014-10-20 06:24:27 +11:00
Jonathan Challinger
1f7e393e38 AP_Math: refactor quaternion library 2014-10-20 06:24:22 +11:00
Andrew Tridgell
184c4c8ac5 AP_Math: fixed example build 2014-08-13 22:12:04 +10:00
Andrew Tridgell
917c9f7865 AP_Math: fixed example build 2014-08-13 21:48:35 +10:00
Daniel Frenzel
b1a9d6bbcc AP_Math: Using const references in matrix3 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2014-08-11 09:24:05 +10:00
Andrew Tridgell
b92873cab1 AP_Math: prevent negative longitude scaling 
for crazy locations
 2014-08-07 09:30:02 +10:00
Andrew Tridgell
03dc27147e AP_Math: port examples to Linux 2014-07-29 15:49:38 +10:00
Andrew Tridgell
aa5940c378 AP_Math: fixed example build 2014-07-25 17:51:30 +10:00
Niels Joubert
398f32d538 AP_Math: Comments on WGS coordinate conversions 2014-06-30 10:29:56 +10:00
David Dewey
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
Andrew Tridgell
7e5a491f14 AP_Math: prevent a floating point exception 2014-04-21 15:37:08 +10:00
Andrew Tridgell
e566802bf3 AP_Math: fixed example build 2014-04-07 07:37:34 +10:00
Niels Joubert
879eb5936b AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices 2014-04-05 13:42:23 +11:00
Andrew Tridgell
9278685cdf AP_Math: fixed location build on SITL 2014-04-01 14:20:10 +11:00
Andrew Tridgell
acd54d0826 AP_Math: fixed example build 2014-03-19 12:13:48 +09:00
Andrew Tridgell
009913ec60 AP_Math: make is_nan const for quaternion and add .zero() for vector2 2014-02-21 20:24:47 +11:00
Andrew Tridgell
599c3a8abf AP_Math: added more operators to VectorN 2014-02-19 10:14:58 +11:00
Andrew Tridgell
2df314799e AP_Math: added tests for quaternion to/from rotation matrix 2014-02-15 12:20:51 +11:00
Andrew Tridgell
689f230d40 AP_Math: added quaternion.from_rotation_matrix() 2014-02-15 12:20:31 +11:00
Andrew Tridgell
c1dff6aa65 AP_Math: fixed example build 2014-02-15 06:39:43 +11:00
Andrew Tridgell
1e0f3f5398 AP_Math: make to_euler() const 2014-02-15 05:27:51 +11:00
Andrew Tridgell
90c41981ac AP_Math: added quaternion normalization 2014-02-15 05:27:51 +11:00
Randy Mackay
37cfbc9ad5 AP_Math: float versions of wrap_360 and wrap_180 2014-02-15 05:27:45 +11:00
Randy Mackay
a963ec7e3b AP_Math: bug fix to wrap_360 and wrap_180 
angles above 720deg and below 3200deg might not have been properly
wrapped.
wrap_360_cd could return 36000 when really this should be wrapped back
to zero.
 2014-02-03 12:56:56 +09:00
Andrew Tridgell
93070a673e AP_Math: fixed example build 2014-01-30 13:33:46 +11:00
Andrew Tridgell
0d174db05b AP_Math: added equality operator for VectorN 2014-01-24 10:37:08 +11:00
Paul Riseborough
f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Andrew Tridgell
4c99d09265 AP_Math: fixed build of vectorN class on PX4 2013-12-31 10:28:27 +11:00
Andrew Tridgell
96df09fd08 AP_Math: add const to quaternion API 2013-12-30 14:33:17 +11:00
Andrew Tridgell
2e9744d0b3 AP_Math: prevent transpose usage error in matrix API 2013-12-30 14:33:17 +11:00
Andrew Tridgell
2c1e0ba130 AP_Math: added vectorN class, and index checking 2013-12-30 14:33:17 +11:00
Andrew Tridgell
828eed1984 AP_Math: allow vector3 and matrix3 objects to be used as arrays 2013-12-29 18:39:09 +11:00
Andrew Tridgell
9b5b4ced60 AP_Math: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell
57d5345774 AP_Math: added M_PI_F define 2013-12-11 10:22:47 +11:00
Andrew Tridgell
db400ffa51 AP_Math: added is_zero() method to Vector3 2013-12-09 17:34:06 +11:00
Andrew Tridgell
d2deee07df AP_Math: fixed zero function for integer vectors 2013-11-07 12:48:16 +11:00
Andrew Tridgell
fb19dbb404 AP_Math: cope with large values passed into the wrap functions 
this uses modulus if the function would loop too many times

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-10-03 12:21:07 +10:00
Andrew Tridgell
18896d9c9b AP_Math: fixed DOS CR/LF errors 2013-09-19 16:26:32 +10:00
Andrew Tridgell
84ed2141a0 AP_Math: fixed float rounding in location_offset() 
this prevents rounding of positions in the rover code
 2013-09-16 11:38:55 +10:00
Andrew Tridgell
97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell
873e54deb1 AP_Math: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell
4c752e4a94 AP_Math: simplify rotations test code 2013-08-30 13:01:34 +10:00
Andrew Tridgell
e2b0e07973 AP_Math: removed unused matrix rotation code 
we only need to rotate vectors
 2013-08-30 13:01:34 +10:00
Andrew Tridgell
a295a01bbc AP_Math: added missing 90 degree rotations 
this ensures we can handle all 90 degree rotations of the compass and
main board. A test in examples/rotations shows that we have them all.
 2013-08-30 13:01:33 +10:00
Andrew Tridgell
2b1fcc964f AP_Math: added a quick test of floating point location accuracy 
just confirming some maths ...
 2013-08-30 13:01:32 +10:00
Andrew Tridgell
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
Andrew Tridgell
9cb6c987d4 AP_Math: fixed example build 2013-08-05 12:37:51 +10:00
Andrew Tridgell
1d75b52411 AP_Math: use const references not pointers for location functions 
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
Andrew Tridgell
468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Randy Mackay
540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Randy Mackay
bd6a60f28b AP_Math: add M_PI_2 definition 
Required when building under arduino
 2013-07-14 15:57:26 +09:00
Andrew Tridgell
8c49ed78a5 AP_Math: make the rotation numbers easier to find 2013-07-08 12:17:59 +10:00
Randy Mackay
8b87849acd Math: add wrap_PI 2013-06-01 18:21:29 +09:00
Randy Mackay
d81b7b507d Math: add Leonard's fast tan function 2013-05-30 18:24:32 +09:00
Andrew Tridgell
5024da2695 AP_Math: fixed indent-tabs-mode 2013-05-30 09:51:51 +10:00
Randy Mackay
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
Andrew Tridgell
737f0305ef AP_Math: implement vector2 cross product 
useful in DCM for faster yaw correction
 2013-05-05 13:47:51 +10:00
Andrew Tridgell
f4189e083b AP_Math: added mulXY() for matrix3 and vector3 
returns the XY components of the product
 2013-05-05 13:47:23 +10:00
Andrew Tridgell
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
Andrew Tridgell
e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell
83dc7dbc92 AP_Math: handle NaN in constrain(), returning average 
this makes it less likely a NaN will propogate
 2013-04-15 14:28:51 +10:00
Andrew Tridgell
43c3c60de2 AP_Math: moved a lot of vector templates to cpp from .h 
this reduces the code size quite a lot on AVR
 2013-04-12 12:48:08 +10:00
Andrew Tridgell
78eb12a4ac AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH 2013-04-12 12:48:08 +10:00
Andrew Tridgell
8b119934ea AP_Math: fixed grammar error 2013-04-12 12:48:08 +10:00
Andrew Tridgell
2d29a6a7be AP_Math: added Vector2f.angle() 
useful for calculating the vector in polar coordinates
 2013-04-12 12:48:08 +10:00
tobias
217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell
091b474a1d AP_Math: added wrap_360_cd() and wrap_180_cd() 
moved from per-vehicle code
 2013-03-29 13:13:37 +11:00
Randy Mackay
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
Randy Mackay
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
James Bielman
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
James Bielman
5631f865b2 Update floating point calculations to use floats instead of doubles. 
- 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
Andrew Tridgell
38062bbb6d AP_Math: support some more rotation combinations 2013-01-13 17:32:48 +11:00
Andrew Tridgell
374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell
eb74fddd9f AP_Math: added global GRAVITY_MSS define 2013-01-02 14:45:08 +11:00
Andrew Tridgell
e7b915b0f4 AP_Math: fixed error comment 2012-12-22 12:52:42 +11:00
Andrew Tridgell
d8bed0c2aa AP_Math: fixed get_distance() function 2012-12-20 14:53:23 +11:00
Andrew Tridgell
a072afa223 AP_Math: expand some macros into functions 
this saves some flash
 2012-12-20 14:52:38 +11:00
Andrew Tridgell
a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Andrew Tridgell
a76688e630 Math: fixed example warnings 2012-12-20 14:52:36 +11:00
Pat Hickey
eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell
7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey
475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Pat Hickey
a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey
7dbe198e5c AP_Math: port to work on coreless arduino (AP_HAL) 2012-12-20 14:51:24 +11:00
Pat Hickey
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
rmackay9
56f88821e9 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9
3fd07805a7 AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9
d6324b3964 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
uncrustify
652b490345 uncrustify libraries/AP_Math/vector2.h 2012-08-21 19:03:34 -07:00
uncrustify
97994a4e3a uncrustify libraries/AP_Math/AP_Math.h 2012-08-21 19:03:34 -07:00
uncrustify
7e19ae5868 uncrustify libraries/AP_Math/matrix3.h 2012-08-21 19:03:34 -07:00
uncrustify
9bb0b42f28 uncrustify libraries/AP_Math/rotations.h 2012-08-21 19:03:34 -07:00
uncrustify
57d4db2be4 uncrustify libraries/AP_Math/vector3.h 2012-08-21 19:03:34 -07:00
uncrustify
d50c606c97 uncrustify libraries/AP_Math/quaternion.h 2012-08-21 19:03:34 -07:00
uncrustify
9ccb38260d uncrustify libraries/AP_Math/polygon.h 2012-08-21 19:03:34 -07:00
uncrustify
533860dd73 uncrustify libraries/AP_Math/AP_Math.cpp 2012-08-21 19:03:34 -07:00
uncrustify
b5bee9deff uncrustify libraries/AP_Math/polygon.cpp 2012-08-21 19:03:34 -07:00
uncrustify
a208fbb2d9 uncrustify libraries/AP_Math/vector3.cpp 2012-08-21 19:03:34 -07:00
uncrustify
424baf3f29 uncrustify libraries/AP_Math/quaternion.cpp 2012-08-21 19:03:33 -07:00
uncrustify
d6e803fd3c uncrustify libraries/AP_Math/matrix3.cpp 2012-08-21 19:03:33 -07:00
uncrustify
64eaadb332 uncrustify libraries/AP_Math/location.cpp 2012-08-21 19:03:33 -07:00
uncrustify
d0d401581f uncrustify libraries/AP_Math/examples/location/location.pde 2012-08-21 19:03:33 -07:00
uncrustify
52dbb56bf0 uncrustify libraries/AP_Math/examples/rotations/rotations.pde 2012-08-21 19:03:33 -07:00
uncrustify
87c263fbb9 uncrustify libraries/AP_Math/examples/polygon/polygon.pde 2012-08-21 19:03:33 -07:00
uncrustify
86627c9a9d uncrustify libraries/AP_Math/examples/eulers/eulers.pde 2012-08-21 19:03:33 -07:00
Andrew Tridgell
6300fa7399 math: more abs() fixes 
abs() is 16 bit
 2012-08-16 15:17:42 +10:00
Jason Short
a66e43aff1 Location Lib : Abs was overflowing causing bad comparison 2012-08-15 22:01:51 -07:00
Jason Short
ff38dadd00 Location Lib. Potential fix for bad angle and distance calcs. 
last_lat changed to int32_t since it can be negative.
 2012-08-15 21:36:55 -07:00
Andrew Tridgell
0ba57d05eb AP_Math: added matrix column extraction functions 2012-08-11 22:06:02 +10:00
Andrew Tridgell
87fca1985f AP_Math: added location_update() and location_offset() functions 
these will be used by AHRS dead reckoning
 2012-08-11 11:56:54 +10:00
Andrew Tridgell
2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Andrew Tridgell
8ae35cae1c AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious 2012-08-08 12:12:30 +10:00
Andrew Tridgell
a72f6acef6 AP_Math: added get_distance_cm() to return in centimeters 2012-07-11 07:49:05 +10:00
Andrew Tridgell
1cd8c54f21 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell
468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell
0bdce404a5 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell
dd200cba31 Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell
fe865bc1dc Math: added comment 2012-06-27 16:01:49 +10:00
Andrew Tridgell
c30b0d85a3 Math: moved more template functions to the .cpp files 
save a bit more code space for larger functions
 2012-06-27 16:01:49 +10:00
Andrew Tridgell
22ff8cb197 examples: fixed build of some examples with new AP_Declination code 2012-03-30 14:25:27 +11:00
Andrew Tridgell
a6d66dc45b 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
fe55a76335 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
17fbb8ea26 Math: fixed the build of the eulers test in SITL 2012-03-21 10:41:55 +11:00
Andrew Tridgell
17f7292fe9 Math: added a test for the rotate() method 2012-03-19 17:29:02 +11:00
Andrew Tridgell
c16b353ea7 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
31e566475b Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +11:00
Andrew Tridgell
d948a28e7c Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell
af9ce0cfc9 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell
72a761170b Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
4d3789d11c AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell
4422486d44 AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
5c6368bad3 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell
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
Andrew Tridgell
55aa43a70d Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell
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
Andrew Tridgell
a92fb67b70 AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
1ec4c0777c Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell
f5e6dc0757 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell
c7d5f06b21 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell
145fc91701 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
502fbf6e17 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell
17170da96e AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Andrew Tridgell
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
Andrew Tridgell
11b8d56434 added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell
e7568db237 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
42522baf9f geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell
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
Andrew Tridgell
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
Andrew Tridgell
85e295332f AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell
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
James Goppert
0c7c508541 Optional recursion added. 2011-09-30 17:17:51 -04:00
James Goppert
5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert
d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
unknown
a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
jasonshort
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
DrZiplok@gmail.com
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
DrZiplok@gmail.com
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
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
rmackay9@yahoo.com
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
rmackay9@yahoo.com
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
DrZiplok@gmail.com
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
DrZiplok@gmail.com
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
DrZiplok@gmail.com
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
DrZiplok@gmail.com
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
DrZiplok@gmail.com
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