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92 lines
3.0 KiB
92 lines
3.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#ifndef AP_MATH_H |
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#define AP_MATH_H |
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// Assorted useful math operations for ArduPilot(Mega) |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <math.h> |
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#include <stdint.h> |
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#include "rotations.h" |
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#include "vector2.h" |
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#include "vector3.h" |
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#include "matrix3.h" |
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#include "quaternion.h" |
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#include "polygon.h" |
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#ifndef PI |
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#define PI 3.141592653589793 |
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#endif |
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#define DEG_TO_RAD 0.017453292519943295769236907684886 |
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#define RAD_TO_DEG 57.295779513082320876798154814105 |
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// define AP_Param types AP_Vector3f and Ap_Matrix3f |
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AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F); |
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AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F); |
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// a varient of asin() that always gives a valid answer. |
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float safe_asin(float v); |
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// a varient of sqrt() that always gives a valid answer. |
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float safe_sqrt(float v); |
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// find a rotation that is the combination of two other |
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// rotations. This is used to allow us to add an overall board |
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// rotation to an existing rotation of a sensor such as the compass |
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enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL); |
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// return distance in meters between two locations |
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float get_distance(const struct Location *loc1, const struct Location *loc2); |
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// return distance in centimeters between two locations |
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int32_t get_distance_cm(const struct Location *loc1, const struct Location *loc2); |
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// return bearing in centi-degrees between two locations |
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int32_t get_bearing_cd(const struct Location *loc1, const struct Location *loc2); |
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// see if location is past a line perpendicular to |
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// the line between point1 and point2. If point1 is |
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// our previous waypoint and point2 is our target waypoint |
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// then this function returns true if we have flown past |
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// the target waypoint |
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bool location_passed_point(struct Location & location, |
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struct Location & point1, |
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struct Location & point2); |
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// extrapolate latitude/longitude given bearing and distance |
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void location_update(struct Location *loc, float bearing, float distance); |
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// extrapolate latitude/longitude given distances north and east |
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void location_offset(struct Location *loc, float ofs_north, float ofs_east); |
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// constrain a value |
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float constrain(float amt, float low, float high); |
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int16_t constrain_int16(int16_t amt, int16_t low, int16_t high); |
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int32_t constrain_int32(int32_t amt, int32_t low, int32_t high); |
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// degrees -> radians |
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float radians(float deg); |
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// radians -> degrees |
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float degrees(float rad); |
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// square |
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float sq(float v); |
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// sqrt of sum of squares |
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float pythagorous2(float a, float b); |
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float pythagorous3(float a, float b, float c); |
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#ifdef radians |
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#error "You need to add empty nocore.inoflag and Arduino.h files to your sketch" |
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#endif |
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/* The following three functions used to be arduino core macros */ |
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#define max(a,b) ((a)>(b)?(a):(b)) |
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#define min(a,b) ((a)<(b)?(a):(b)) |
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#endif // AP_MATH_H |
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