d142ac234c
Fix coverage and bug in matrix equal test.
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
af2610ec04
Test: added check for quaternion vector to vector rotation constructor
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including all the parallel vector corner cases
7 years ago
308a6c91cb
Test: added copyTo tests for Vector3, Quaternion and Matrix including clolumn-major order
7 years ago
d259ab2108
Test: add Quaternion rotate() test that catches non-commutating rotations
7 years ago
0a772f59dd
Quaternion: added direct efficient body z-axis calculation with test
8 years ago
e595ebb9a7
Switch to Hamilton quaternions and add Cholesky decomposition.
8 years ago
e09cf12e2e
Removed all uses of C library from tests
8 years ago
cfa68c2196
clang-tidy trivial cleanup
8 years ago
68c7cc5bfd
Quaternion add copyTo
8 years ago
63aea23f9e
Add cholesky decomp, Closes #30 , and dynamic print buf
8 years ago
47c0a93140
Quaternion: added tests for the corner cases of Dcm to quaternion conversion
8 years ago
74a120f554
Handle some divide by zero edge cases on init.
8 years ago
34fccdd680
add renormalize method ( #32 )
8 years ago
db4374882b
Fix attitude tests.
9 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
262a715d90
Fix some when building in px4.
9 years ago
37b00b0880
Added check or consistency of dcm and quaternion product.
9 years ago
1a87564b85
Added dcm quat prod consistency check.
9 years ago
4f13809420
Added axis angle accessors, removed == operator.
9 years ago
19554c4470
Use Hamilton quaternion definition.
9 years ago
e6a6b4680c
Use quaternion multiplaction for quaternion derivative.
9 years ago
9353e4cb64
Fix bugs in axis angle.
9 years ago
0f41af271a
Added axis angle attitude representation. ( #25 )
9 years ago
bd8420fcf6
Added example of assignment to already created object.
9 years ago
65679fbcbb
Features and fixes
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* added the trace function for a SquareMatrix
* added Vector3.hat() and it's counterpart Dcm.vee()
for skewsymskew symmetric matrix operations in relation to the cross product
see https://en.wikipedia.org/wiki/Hat_operator
* Matrix::write_string produced runtime errors when I used it in PX4 posix simulation, i simplified it
* a Matrix3f is a SquareMatrix
* added tests for SquareMatrix.trace, Vector3.hat and Dcm.vee
* added a test for quaternion initialisation from array
* preventing buffer overflows in Matrix.write_string method
9 years ago
711b57d2d4
Added unit function that returns normalized vector.
9 years ago
0e14e11183
Added support for attitude_estimator_q functions.
9 years ago
95e3d7d6ce
Added set function.
9 years ago
ce30542dba
Fix output for unit test.
9 years ago
1778ac199c
Fixed euler wrapping.
9 years ago
5aef810e7c
Fixed euler angles.
9 years ago
b98ac75452
Formatting.
9 years ago
ffbe58ca10
Added better roundtrip euler test.
9 years ago
d761bd3721
Fixed formatting. Made traivs more verbose.
9 years ago
38211e1aff
Fix testing mechanism.
9 years ago
fa31c61f2c
Fix for euler.
9 years ago
cc800454d2
Formatting.
9 years ago
45e6012818
matrix scalar pre multiplication and general scalar multiplication for
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quaternions
9 years ago
10b395a782
added more quaternion methods
9 years ago
9cd6ac3dd9
Fixed coverage.
9 years ago
42f2e60b24
Added runge kutta integration.
9 years ago
1fb0f33eb4
Removed old references to matrix.hpp.
9 years ago
c70994e6a5
Formatting.
9 years ago
4a6369cee5
More coverage testing.
9 years ago
75399fb15e
Cleanup of printing.
9 years ago
7136e5b7d1
More work on gimbal lock case.
9 years ago
9af1604daa
Formatting.
9 years ago
fd64e7e93a
More testing and cleanup.
9 years ago
James Goppert
Matthias Grob
Pavel Kirienko
Daniel Agar
James Goppert
Thomas Gubler
Roman