22ff8cb197
examples: fixed build of some examples with new AP_Declination code
13 years ago
a6d66dc45b
Math: added mul_transpose() operation
...
this is equivalent to multiplying by m.transposed(), but is more
efficient
13 years ago
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
13 years ago
17fbb8ea26
Math: fixed the build of the eulers test in SITL
13 years ago
17f7292fe9
Math: added a test for the rotate() method
13 years ago
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
13 years ago
31e566475b
Math: added zero() and identity() methods to Matrix3f
13 years ago
d948a28e7c
Math: change signs in quaternion library
...
thanks to Justin for the suggestion
13 years ago
af9ce0cfc9
Math: allow eulers test to build with AP_Declination library
13 years ago
72a761170b
Math: fixed build of eulers test on SITL
13 years ago
58a68c89d9
Math: added a function to combine standard rotations
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this will allow us to have an overall board rotation plus a per-sensor
rotation
13 years ago
0ec9857689
Math: any euler angle with pitch > 90 is invalid
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both DCM and quaternion always return pitch in the range -90 to 90
13 years ago
4d3789d11c
AP_Math: update the test suite
13 years ago
4422486d44
AP_Math: made rotation matrices more C++
...
thanks to Adam for the suggestion
13 years ago
5c6368bad3
AP_Math: allow null pointers in Quaternion::to_euler()
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this matches the Matrix3f method
13 years ago
9f0cb78f08
AP_Math: re-work quaternion functions to be more C++ like
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thanks to Adam for the suggestion!
13 years ago
55aa43a70d
Math: added a test suite for the new rotation methods
13 years ago
289c64c0b9
Math: added vector3.rotate() and matrix3.rotation() methods
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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
13 years ago
a92fb67b70
AP_Math: expanded the math test suite
13 years ago
4d65cda0ea
AP_Math: added quaternion->matrix and earth frame routines
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this will be used for 3d acceleration
13 years ago
8abbbe5713
AP_Math: better way of handling safe_sqrt()
...
better to test the result, than predict it
13 years ago
1ec4c0777c
Math: added comment on quaternion constructor
13 years ago
f5e6dc0757
Math: added is_inf() on vector3f
13 years ago
c7d5f06b21
AP_Math: added quaternion helper functions and a test suite
13 years ago
145fc91701
AP_Math: added a .zero() method to Vector3f
13 years ago
16ed8bc8f6
AP_Math: added rotmat <-> euler functions
...
these will make the dcm matrix manipulation easier to understand
13 years ago
17d16bc8c6
AP_Math: added safe_sqrt() function
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this function will never return NAN. It will return zero for negative
numbers.
13 years ago
502fbf6e17
AP_Math: added a safe_asin() function
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this adds range checking to asin()
13 years ago
17170da96e
AP_Math: added is_nan() methods to vector3f and matrix3f
13 years ago
882cd4ea83
AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h
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this avoids us needing AP_Math.h in every utility sketch and example
13 years ago
11b8d56434
added comment in polygon code
13 years ago
e7568db237
fixed comment
13 years ago
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
13 years ago
a3a0e5646f
polygon: improve the speed and precision of the polygon algorithm
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now takes 156 usec per test, with a 11 point boundary
13 years ago
42522baf9f
geofence: store fence points as int32_t
...
this keeps maximum precision in fence boundaries
13 years ago
9b6bab8904
AP_Math: better polygon algorithm
...
this one seems to do better with single precision floating point
13 years ago
62e92f406e
AP_Math: make out vector and matrix elements used types with fixed sizes
...
this prevents differences between CPU types
13 years ago
85e295332f
AP_Math: added Polygon_complete() function
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used to veryify user supplied boundaries
13 years ago
117a98f9a2
AP_Math: added a Polygon_outside() function
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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'
13 years ago
0c7c508541
Optional recursion added.
14 years ago
5489b84f8e
Improvements to cmake.
14 years ago
d887a28b91
Added ArduBoat/ ArduRover/ and APO library.
14 years ago
a4e001bbcf
Adding CMake support
14 years ago
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
14 years ago
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
14 years ago
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
14 years ago
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
14 years ago
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
14 years ago
8708675b1f
added constructor with 9 elements to matrix3.h
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corrected matrix * vector function.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@551 f9c3cf11-9bcb-44bc-f272-b75c42450872
15 years ago
7721e622aa
Rather than subclassing from the templated classes, just typedef directly to them.
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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
15 years ago
Andrew Tridgell
James Goppert
unknown
jasonshort
DrZiplok@gmail.com
rmackay9@yahoo.com