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mathlib: Matrix and Quaternion cleanup and bugfixes. Copyright updated.

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This commit is contained in:
Anton Babushkin 2013-12-25 13:03:36 +04:00
parent 9dfe366e90
commit 8ed193d115
5 changed files with 115 additions and 76 deletions
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57
src/lib/mathlib/math/Matrix.hpp
View File

@ -1,8 +1,9 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Will Perone <will.perone@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
* Author: Anton Babushkin <anton.babushkin@me.com>
* Pavel Kirienko <pavel.kirienko@gmail.com>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -36,7 +37,7 @@
/**
* @file Matrix.hpp
*
* Generic Matrix
* Matrix class
*/
#ifndef MATRIX_HPP
@ -51,8 +52,6 @@ namespace math
template <unsigned int M, unsigned int N>
class __EXPORT Matrix;
class __EXPORT Quaternion;
// MxN matrix with float elements
template <unsigned int M, unsigned int N>
class __EXPORT MatrixBase {
@ -75,6 +74,14 @@ public:
arm_mat = {M, N, &data[0][0]};
}
/**
* copyt ctor
*/
MatrixBase(const MatrixBase<M, N> &m) {
arm_mat = {M, N, &data[0][0]};
memcpy(data, m.data, sizeof(data));
}
MatrixBase(const float *d) {
arm_mat = {M, N, &data[0][0]};
memcpy(data, d, sizeof(data));
@ -83,29 +90,35 @@ public:
/**
* access by index
*/
inline float &operator ()(unsigned int row, unsigned int col) {
float &operator ()(const unsigned int row, const unsigned int col) {
return data[row][col];
}
/**
* access by index
*/
inline const float &operator ()(unsigned int row, unsigned int col) const {
float operator ()(const unsigned int row, const unsigned int col) const {
return data[row][col];
}
unsigned int get_rows() {
/**
* get rows number
*/
unsigned int get_rows() const {
return M;
}
unsigned int get_cols() {
/**
* get columns number
*/
unsigned int get_cols() const {
return N;
}
/**
* test for equality
*/
bool operator ==(const Matrix<M, N> &m) {
bool operator ==(const Matrix<M, N> &m) const {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
@ -116,7 +129,7 @@ public:
/**
* test for inequality
*/
bool operator !=(const Matrix<M, N> &m) {
bool operator !=(const Matrix<M, N> &m) const {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
@ -209,7 +222,7 @@ public:
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
data[i][j] /= num;
return *this;
return *static_cast<Matrix<M, N>*>(this);
}
/**
@ -272,11 +285,11 @@ class __EXPORT Matrix : public MatrixBase<M, N> {
public:
using MatrixBase<M, N>::operator *;
Matrix() : MatrixBase<M, N>() {
}
Matrix() : MatrixBase<M, N>() {}
Matrix(const float *d) : MatrixBase<M, N>(d) {
}
Matrix(const Matrix<M, N> &m) : MatrixBase<M, N>(m) {}
Matrix(const float *d) : MatrixBase<M, N>(d) {}
/**
* set to value
@ -301,11 +314,11 @@ class __EXPORT Matrix<3, 3> : public MatrixBase<3, 3> {
public:
using MatrixBase<3, 3>::operator *;
Matrix() : MatrixBase<3, 3>() {
}
Matrix() : MatrixBase<3, 3>() {}
Matrix(const float *d) : MatrixBase<3, 3>(d) {
}
Matrix(const Matrix<3, 3> &m) : MatrixBase<3, 3>(m) {}
Matrix(const float *d) : MatrixBase<3, 3>(d) {}
/**
* set to value
@ -348,6 +361,9 @@ public:
data[2][2] = cr * cp;
}
/**
* get euler angles from rotation matrix
*/
Vector<3> to_euler(void) const {
Vector<3> euler;
euler.data[1] = asinf(-data[2][0]);
@ -364,6 +380,7 @@ public:
euler.data[0] = atan2f(data[2][1], data[2][2]);
euler.data[2] = atan2f(data[1][0], data[0][0]);
}
return euler;
}
};

42
src/lib/mathlib/math/Quaternion.hpp
View File

@ -1,8 +1,9 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Will Perone <will.perone@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
* Author: Anton Babushkin <anton.babushkin@me.com>
* Pavel Kirienko <pavel.kirienko@gmail.com>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -36,7 +37,7 @@
/**
* @file Quaternion.hpp
*
* Quaternion
* Quaternion class
*/
#ifndef QUATERNION_HPP
@ -50,31 +51,32 @@
namespace math
{
template <unsigned int N, unsigned int M>
class Matrix;
class Quaternion : public Vector<4> {
class __EXPORT Quaternion : public Vector<4> {
public:
/**
* trivial ctor
*/
Quaternion() : Vector() {
}
Quaternion() : Vector<4>() {}
/**
* copy ctor
*/
Quaternion(const Quaternion &q) : Vector<4>(q) {}
/**
* casting from vector
*/
Quaternion(const Vector<4> &v) : Vector<4>(v) {}
/**
* setting ctor
*/
Quaternion(const float a0, const float b0, const float c0, const float d0): Vector(a0, b0, c0, d0) {
}
Quaternion(const float d[4]) : Vector<4>(d) {}
Quaternion(const Vector<4> &v) : Vector(v) {
}
Quaternion(const Quaternion &q) : Vector(q) {
}
Quaternion(const float v[4]) : Vector(v) {
}
/**
* setting ctor
*/
Quaternion(const float a0, const float b0, const float c0, const float d0): Vector<4>(a0, b0, c0, d0) {}
using Vector<4>::operator *;
@ -138,8 +140,10 @@ public:
R.data[2][0] = 2.0f * (data[1] * data[3] - data[0] * data[2]);
R.data[2][1] = 2.0f * (data[0] * data[1] + data[2] * data[3]);
R.data[2][2] = aSq - bSq - cSq + dSq;
return R;
}
};
}
#endif // QUATERNION_HPP

20
src/lib/mathlib/math/Vector.hpp
View File

@ -68,6 +68,7 @@ public:
/**
* trivial ctor
* note that this ctor will not initialize elements
*/
VectorBase() {
arm_col = {N, 1, &data[0]};
@ -104,7 +105,7 @@ public:
}
/**
* get rows number
* get vector size
*/
unsigned int get_size() const {
return N;
@ -113,7 +114,7 @@ public:
/**
* test for equality
*/
bool operator ==(const Vector<N> &v) {
bool operator ==(const Vector<N> &v) const {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v.data[i])
return false;
@ -123,7 +124,7 @@ public:
/**
* test for inequality
*/
bool operator !=(const Vector<N> &v) {
bool operator !=(const Vector<N> &v) const {
for (unsigned int i = 0; i < N; i++)
if (data[i] != v.data[i])
return true;
@ -286,10 +287,9 @@ public:
template <unsigned int N>
class __EXPORT Vector : public VectorBase<N> {
public:
//using VectorBase<N>::operator *;
Vector() : VectorBase<N>() {}
Vector(const Vector &v) : VectorBase<N>(v) {}
Vector(const Vector<N> &v) : VectorBase<N>(v) {}
Vector(const float d[N]) : VectorBase<N>(d) {}
@ -307,8 +307,8 @@ class __EXPORT Vector<2> : public VectorBase<2> {
public:
Vector() : VectorBase<2>() {}
/* simple copy is 1.6 times faster than memcpy */
Vector(const Vector &v) : VectorBase<2>() {
// simple copy is 1.6 times faster than memcpy
Vector(const Vector<2> &v) : VectorBase<2>() {
data[0] = v.data[0];
data[1] = v.data[1];
}
@ -342,8 +342,8 @@ class __EXPORT Vector<3> : public VectorBase<3> {
public:
Vector() : VectorBase<3>() {}
/* simple copy is 1.6 times faster than memcpy */
Vector(const Vector &v) : VectorBase<3>() {
// simple copy is 1.6 times faster than memcpy
Vector(const Vector<3> &v) : VectorBase<3>() {
for (unsigned int i = 0; i < 3; i++)
data[i] = v.data[i];
}
@ -382,7 +382,7 @@ class __EXPORT Vector<4> : public VectorBase<4> {
public:
Vector() : VectorBase() {}
Vector(const Vector &v) : VectorBase<4>() {
Vector(const Vector<4> &v) : VectorBase<4>() {
for (unsigned int i = 0; i < 4; i++)
data[i] = v.data[i];
}

2
src/modules/att_pos_estimator_ekf/kalman_main.cpp
View File

@ -107,7 +107,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("att_pos_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 30,
8096,
8192,
kalman_demo_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);

70
src/systemcmds/tests/test_mathlib.cpp
View File

@ -60,25 +60,15 @@ int test_mathlib(int argc, char *argv[])
{
warnx("testing mathlib");
Vector<2> v2(1.0f, 2.0f);
Vector<3> v3(1.0f, 2.0f, 3.0f);
Vector<4> v4(1.0f, 2.0f, 3.0f, 4.0f);
Vector<10> v10;
v10.zero();
float data2[2] = {1.0f, 2.0f};
float data3[3] = {1.0f, 2.0f, 3.0f};
float data4[4] = {1.0f, 2.0f, 3.0f, 4.0f};
float data10[10];
{
Vector<2> v;
Vector<2> v1(1.0f, 2.0f);
Vector<2> v2(1.0f, -1.0f);
TEST_OP("Constructor Vector<2>()", Vector<2> v);
TEST_OP("Constructor Vector<2>(Vector<2>)", Vector<2> v(v2));
TEST_OP("Constructor Vector<2>(float[])", Vector<2> v(data2));
TEST_OP("Constructor Vector<2>(float, float)", Vector<2> v(1.0f, 2.0f));
float data[2] = {1.0f, 2.0f};
TEST_OP("Constructor Vector<2>()", Vector<2> v3);
TEST_OP("Constructor Vector<2>(Vector<2>)", Vector<2> v3(v1));
TEST_OP("Constructor Vector<2>(float[])", Vector<2> v3(data));
TEST_OP("Constructor Vector<2>(float, float)", Vector<2> v3(1.0f, 2.0f));
TEST_OP("Vector<2> = Vector<2>", v = v1);
TEST_OP("Vector<2> + Vector<2>", v + v1);
TEST_OP("Vector<2> - Vector<2>", v - v1);
@ -92,10 +82,11 @@ int test_mathlib(int argc, char *argv[])
Vector<3> v;
Vector<3> v1(1.0f, 2.0f, 0.0f);
Vector<3> v2(1.0f, -1.0f, 2.0f);
TEST_OP("Constructor Vector<3>()", Vector<3> v);
TEST_OP("Constructor Vector<3>(Vector<3>)", Vector<3> v(v3));
TEST_OP("Constructor Vector<3>(float[])", Vector<3> v(data3));
TEST_OP("Constructor Vector<3>(float, float, float)", Vector<3> v(1.0f, 2.0f, 3.0f));
float data[3] = {1.0f, 2.0f, 3.0f};
TEST_OP("Constructor Vector<3>()", Vector<3> v3);
TEST_OP("Constructor Vector<3>(Vector<3>)", Vector<3> v3(v1));
TEST_OP("Constructor Vector<3>(float[])", Vector<3> v3(data));
TEST_OP("Constructor Vector<3>(float, float, float)", Vector<3> v3(1.0f, 2.0f, 3.0f));
TEST_OP("Vector<3> = Vector<3>", v = v1);
TEST_OP("Vector<3> + Vector<3>", v + v1);
TEST_OP("Vector<3> - Vector<3>", v - v1);
@ -119,10 +110,11 @@ int test_mathlib(int argc, char *argv[])
Vector<4> v;
Vector<4> v1(1.0f, 2.0f, 0.0f, -1.0f);
Vector<4> v2(1.0f, -1.0f, 2.0f, 0.0f);
TEST_OP("Constructor Vector<4>()", Vector<4> v);
TEST_OP("Constructor Vector<4>(Vector<4>)", Vector<4> v(v4));
TEST_OP("Constructor Vector<4>(float[])", Vector<4> v(data4));
TEST_OP("Constructor Vector<4>(float, float, float, float)", Vector<4> v(1.0f, 2.0f, 3.0f, 4.0f));
float data[4] = {1.0f, 2.0f, 3.0f, 4.0f};
TEST_OP("Constructor Vector<4>()", Vector<4> v3);
TEST_OP("Constructor Vector<4>(Vector<4>)", Vector<4> v3(v1));
TEST_OP("Constructor Vector<4>(float[])", Vector<4> v3(data));
TEST_OP("Constructor Vector<4>(float, float, float, float)", Vector<4> v3(1.0f, 2.0f, 3.0f, 4.0f));
TEST_OP("Vector<4> = Vector<4>", v = v1);
TEST_OP("Vector<4> + Vector<4>", v + v1);
TEST_OP("Vector<4> - Vector<4>", v - v1);
@ -132,9 +124,35 @@ int test_mathlib(int argc, char *argv[])
}
{
TEST_OP("Constructor Vector<10>()", Vector<10> v);
TEST_OP("Constructor Vector<10>(Vector<10>)", Vector<10> v(v10));
TEST_OP("Constructor Vector<10>(float[])", Vector<10> v(data10));
Vector<10> v1;
v1.zero();
float data[10];
TEST_OP("Constructor Vector<10>()", Vector<10> v3);
TEST_OP("Constructor Vector<10>(Vector<10>)", Vector<10> v3(v1));
TEST_OP("Constructor Vector<10>(float[])", Vector<10> v3(data));
}
{
Matrix<3, 3> m1;
m1.identity();
Matrix<3, 3> m2;
m2.identity();
Vector<3> v1(1.0f, 2.0f, 0.0f);
TEST_OP("Matrix<3, 3> * Vector<3>", m1 * v1);
TEST_OP("Matrix<3, 3> + Matrix<3, 3>", m1 + m2);
TEST_OP("Matrix<3, 3> * Matrix<3, 3>", m1 * m2);
}
{
Matrix<10, 10> m1;
m1.identity();
Matrix<10, 10> m2;
m2.identity();
Vector<10> v1;
v1.zero();
TEST_OP("Matrix<10, 10> * Vector<10>", m1 * v1);
TEST_OP("Matrix<10, 10> + Matrix<10, 10>", m1 + m2);
TEST_OP("Matrix<10, 10> * Matrix<10, 10>", m1 * m2);
}
return 0;