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76362caee0
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312 Commits

Author SHA1 Message Date
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
Gustavo Jose de Sousa
39f72610e2 AP_Math: quaternion: fix style 
Remove trailing spaces and run astyle.
 2016-05-10 16:16:37 +10:00
Andrew Tridgell
e8142b0b5b AP_Math: added wrap_360() 2016-05-07 18:27:21 +10:00
Andrew Tridgell
97d27ce58f AP_Math: fixed memory leak 
found by coverity
 2016-04-26 16:41:44 +10:00
Andrew Tridgell
6165c42535 AP_Math: added from_axis_angle() method on Matrix3f 
for arbitrary rotations in simulator
 2016-04-22 10:28:15 +10:00
Michael du Breuil
bb7cf6c0b6 AP_Math: Update location_sanitize to sanitize for lat/lng 2016-04-17 19:00:03 -07:00
Ricardo de Almeida Gonzaga
5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell
6bff07397e AP_Math: added linear_interpolate() function 2016-04-02 22:44:47 +11:00
Lucas De Marchi
b4a8a0b961 AP_Math: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Gustavo Jose de Sousa
6729475b25 AP_Math: fix eulers example for PX4 2016-03-14 11:54:31 -03:00
Gustavo Jose de Sousa
d9bb696fa3 AP_Math: avoid bias in rand_num() in eulers example 
Use RAND_MAX to avoid bias.
 2016-03-14 11:54:31 -03:00
Tom Pittenger
278fb2e60d AP_Math: add location sanity checker/fixer util 2016-03-02 08:48:26 -08:00
dgrat
672acdc8ef AP_Math: Created location.h header for location functions 
Helps to order AP_Math functions by purpose.
 2016-02-27 02:51:33 -03:00
Lucas De Marchi
7f685a12bd AP_Math: remove trailing whitespaces and tabs 2016-02-27 02:51:33 -03:00
dgrat
5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
dgrat
7c4c8ea579 AP_Math: Remove ROTATION_COMBINATION_SUPPORT 
This function is not used.
 2016-02-27 02:51:33 -03:00
Daniel Frenzel
ead51a9d19 AP_Math: Removed useless "undef INLINE" 2016-02-25 02:10:39 -03:00
Daniel Frenzel
ef7cf7c4aa AP_Math: Removed useless header 
"float.h" does not exist. It is useless and wrong to include it.
 2016-02-25 02:10:39 -03:00
Peter Barker
80bc7a50d7 AP_Math: define MATH_CHECK_INDEXES 
Wrapped in ifndefs so the top-level Makefile can override

Assume MATH_CHECK_INDEXES is always defined
 2016-02-19 12:34:23 -02:00
Gustavo Jose de Sousa
c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
a2d2661765 waf: use methods from bld instead of ardupilotwaf for the remaining 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa
d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Andrew Tridgell
60af7a6087 AP_Math: removed matrix3 parameter support 2016-01-04 11:14:43 +11:00
Andrew Tridgell
16e0a6d7b0 AP_Math: fixed angle between two vector3s 2016-01-01 12:41:05 +11:00
Lucas De Marchi
180359d6dd AP_Math: fix unit test 
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.

While at it, check not only the values are close enough but also the
length of the vector.
 2015-12-30 20:22:28 -02:00
Lucas De Marchi
ba3325ffd3 AP_Math: rename rotation 
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.

Change the name to follow the other names.
 2015-12-30 20:22:27 -02:00
Jonathan Challinger
83d5a6664a AP_Math: minor changes to matrix_alg in response to review 2015-12-29 22:57:21 -08:00
bugobliterator
1a4b4fa85e AP_Math: add inverse matrix test to check if inverse(mat)*mat = I 
where I is an identity matrix (a matrix with diagonal elements = 1)
 2015-12-29 10:46:35 -08:00
bugobliterator
fe62a049bd AP_Math: implement LU decomposition based matrix inverse 
Replaces previous matlab generated code, which was giving imprecise results
 2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
a0c3cbffee AP_Math: add inverse matrix test example 
fix example build
 2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit
5af0cc8eaf AP_Math: add inverse rotate example function 2015-12-29 10:46:34 -08:00
Jonathan Challinger
7ed8b3814f AP_Math: add rotate_inverse to Vector3 2015-12-29 10:46:34 -08:00
Lucas De Marchi
a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi
502077d763 AP_Math: stop using Progmem.h 2015-12-27 15:58:12 -02:00
José Roberto de Souza
d74bd533c8 AP_Math: Add function to convert frequency to/from microseconds 2015-12-16 08:18:17 +11:00
José Roberto de Souza
38575dd87a AP_Math: Fix parameter name in nsec_to_hz() 2015-12-16 08:18:17 +11:00
Jonathan Challinger
0a701088d4 AP_Math: fix bug in Quaternion::operator*= 2015-12-14 11:15:33 +09:00
Jonathan Challinger
fff275fd99 AP_Math: add wrap_2PI 2015-12-09 19:58:25 +09:00
Tom Pittenger
f8b0a6a977 AP_Math: compiler warnings - undeclared function 2015-12-07 16:05:00 +09:00
Tom Pittenger
103af93ec3 AP_Math: compiler warnings - float compare to constant (zero) 2015-12-07 16:04:59 +09:00
Lucas De Marchi
f5c03c786d AP_Math: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:43 +11:00
Gustavo Jose de Sousa
eef784fbe6 AP_Math: add benchmark for matrix multiplication 2015-12-03 07:54:31 +11:00
Gustavo Jose de Sousa
4266e924d0 AP_Math: add unit test for vector rotations 
This unit test already shows that rotation is wrong for
ROTATION_YAW_293_PITCH_68_ROLL_90.
 2015-12-03 07:54:31 +11:00
Caio Marcelo de Oliveira Filho
6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi
aa9168e0e9 AP_Math: remove unused maxf() 2015-12-01 16:28:18 -02:00