a8009a36a3
Quaternion multiply inline return
5 years ago
215203fc6f
Automatic Differentiation 'Dual' Type ( #100 )
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* Dual numbers initial implementation
* Add test coverage, with partial derivative example
* Add Jacobian test, fix small issues
* Improve test to demonstrate non-square jacobian
* Better naming for collectReals/Derivatives
* Improve comments
* Potential GCC 4.8 bug workaround
* Add fallback workaround for non-IEEE float platforms
5 years ago
740324cf1e
Make all array constructors explicit ( #99 )
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* Make all array constructors explicit
to avoid accidental implicit casts like e.g.
Vector3f v = 0;
assigning nullpointer content.
5 years ago
973999a4d3
Fix some template type conversions and style
6 years ago
a374f37a54
Include helper_functions like all other library components
6 years ago
84b3da227c
Canonical Quaternion with tests ( #81 )
6 years ago
18fba8221c
quaternion: improve comments
6 years ago
a4f39c0f89
quaternion: reuse existing dot product
6 years ago
dc3af80977
constructors use array size rather than pointers
7 years ago
f1bee775a0
use default constructors and skip unnecessary initialization
7 years ago
1bcf48bd82
Quaternion from_dcm don't pass by value
7 years ago
21d47424c6
Quaternion mark const helpers const
7 years ago
f835d39017
Quaternion/Vector: Small refactor for review: put more comments, switched type conversions, took out default destination vector because confusing
7 years ago
84cd7483ae
Quaternion: added constructor which generates the shortest rotation that maps one vector to another
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including tedious corner case handling for parallel vectors with 180 degree rotations
7 years ago
1dffd5930b
Matrix: add copyTo copying data to an array and copyToColumnMajor which does the same but with column-major order
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same functionality explicitly for quaternions can be deleted
7 years ago
f4243160e2
Quaternion: changed comments because of typos and unclear inconsistent indexing
7 years ago
ee2219b836
Quaternion: replace conversion in rotate() with AxisAngle call
7 years ago
b241cf5c95
Quaternion: Adjusted rotate() to the Hamilton convention (which we switched to)
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Note: This error was not caught by a test because the test included only trivial cases which do not explore non-commuting quaternions.
7 years ago
6b1fea76d0
Quaternion: added and adjusted comments to further explain conjugation and derivative functionality
7 years ago
0a772f59dd
Quaternion: added direct efficient body z-axis calculation with test
8 years ago
baf54ad29f
quaternion: correcting comments
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^(-1) went missing and some phrase was inprecise
8 years ago
e595ebb9a7
Switch to Hamilton quaternions and add Cholesky decomposition.
8 years ago
66e1b406b8
Remove artifical need to virtualize dtors
8 years ago
9ebf5f89db
Removed all use of C library from the matrix namespace
8 years ago
68c7cc5bfd
Quaternion add copyTo
8 years ago
63aea23f9e
Add cholesky decomp, Closes #30 , and dynamic print buf
8 years ago
2f4427a923
Quaternion: Implemented the largest pivot element method for conversion from Dcm to Quaternion to avoid numerical problems
8 years ago
7eff04742c
Fix for zero check on quat from dcm ctor.
8 years ago
74a120f554
Handle some divide by zero edge cases on init.
8 years ago
3aeb099249
Revert "Use Hamilton quaternion definition."
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This reverts commit 19554c4470
9 years ago
0eb8aa0c0b
Support more of mathlib function for easier swap in px4.
9 years ago
19554c4470
Use Hamilton quaternion definition.
9 years ago
e6a6b4680c
Use quaternion multiplaction for quaternion derivative.
9 years ago
0b1bed6b00
Added deprecation warnings in source code.
9 years ago
0f41af271a
Added axis angle attitude representation. ( #25 )
9 years ago
b1f76782f6
Euler, Quaternion: fix compiler errors for GCC 6.1.1 ( #23 )
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* Euler, Quaternion: fix compiler errors for GCC 6.1.1
GCC output:
error: implicit conversion from ‘float’ to ‘double’ to match other operand
of binary expression [-Werror=double-promotion]
* astyle: fix formatting for Euler.hpp & Quaternion.hpp
9 years ago
f4e2b21608
- better description for quaternion class
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- revert conversion functions to constructor
9 years ago
4a405e7f60
make it clear that we are using right hand rotation convention
9 years ago
10c1b49bde
fix typo
9 years ago
1033e145a5
fix some typos and better explanation of quaternion ordering
9 years ago
2b3bdb523d
better description for quaternion class
9 years ago
3152d3d6cf
better function descriptions for rotation classes:
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- do not talk specifically about body or earth frame, just use frame 1 and frame 2
9 years ago
e3a1d67444
adding detailed comments on rotation classes
9 years ago
af2e6d952e
correcting comments
9 years ago
34e6e2a941
refactoring rotation classes and adding initial description
9 years ago
0e14e11183
Added support for attitude_estimator_q functions.
9 years ago
45e6012818
matrix scalar pre multiplication and general scalar multiplication for
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quaternions
9 years ago
99ac532746
remove unnecessary ;
9 years ago
10b395a782
added more quaternion methods
9 years ago
b9924820e1
Work on kalman filter interface.
9 years ago
Daniel Agar
Julian Kent
Matthias Grob
kritz
James Goppert
Nate Weibley
Pavel Kirienko
James Goppert
Beat Küng
Roman
Andreas Bircher
Thomas Gubler