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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
This commit is contained in:
Matthias Grob
2016-04-28 21:16:36 +02:00
committed by James Goppert
parent 07fba8322a
commit 65679fbcbb
8 changed files with 73 additions and 20 deletions
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test/squareMatrix.cpp
+1
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@@ -17,6 +17,7 @@ int main()
Vector3<float> diag_check(1, 5, 10);
TEST(isEqual(A.diag(), diag_check));
TEST(A.trace() - 16 < 1e-3);
float data_check[9] = {
1.01158503f, 0.02190432f, 0.03238144f,