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Removed CMSIS.

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This commit is contained in:
James Goppert
2016-03-25 04:38:07 -05:00
committed by Lorenz Meier
parent 425c5dea2a
commit d02abf2cc0
24 changed files with 2 additions and 13554 deletions
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src/lib/mathlib/math/Matrix.hpp
-31
View File
@@ -46,11 +46,7 @@
#include <stdio.h>
#include <math.h>
#ifdef CONFIG_ARCH_ARM
#include "../CMSIS/Include/arm_math.h"
#else
#include "matrix/math.hpp"
#endif
#include <platforms/px4_defines.h>
namespace math
@@ -72,11 +68,7 @@ public:
/**
* struct for using arm_math functions
*/
#ifdef CONFIG_ARCH_ARM
arm_matrix_instance_f32 arm_mat;
#else
eigen_matrix_instance arm_mat;
#endif
/**
* trivial ctor
@@ -302,47 +294,29 @@ public:
*/
template <unsigned int P>
Matrix<M, P> operator *(const Matrix<N, P> &m) const {
#ifdef CONFIG_ARCH_ARM
Matrix<M, P> res;
arm_mat_mult_f32(&arm_mat, &m.arm_mat, &res.arm_mat);
return res;
#else
matrix::Matrix<float, M, N> Me(this->arm_mat.pData);
matrix::Matrix<float, N, P> Him(m.arm_mat.pData);
matrix::Matrix<float, M, P> Product = Me * Him;
Matrix<M, P> res(Product.data());
return res;
#endif
}
/**
* transpose the matrix
*/
Matrix<N, M> transposed(void) const {
#ifdef CONFIG_ARCH_ARM
Matrix<N, M> res;
arm_mat_trans_f32(&this->arm_mat, &res.arm_mat);
return res;
#else
matrix::Matrix<float, N, M> Me(this->arm_mat.pData);
Matrix<N, M> res(Me.transpose().data());
return res;
#endif
}
/**
* invert the matrix
*/
Matrix<M, N> inversed(void) const {
#ifdef CONFIG_ARCH_ARM
Matrix<M, N> res;
arm_mat_inverse_f32(&this->arm_mat, &res.arm_mat);
return res;
#else
matrix::SquareMatrix<float, M> Me = matrix::Matrix<float, M, N>(this->arm_mat.pData);
Matrix<M, N> res(Me.I().data());
return res;
#endif
}
/**
@@ -401,15 +375,10 @@ public:
* multiplication by a vector
*/
Vector<M> operator *(const Vector<N> &v) const {
#ifdef CONFIG_ARCH_ARM
Vector<M> res;
arm_mat_mult_f32(&this->arm_mat, &v.arm_col, &res.arm_col);
#else
matrix::Matrix<float, M, N> Me(this->arm_mat.pData);
matrix::Matrix<float, N, 1> Vec(v.arm_col.pData);
matrix::Matrix<float, M, 1> Product = Me * Vec;
Vector<M> res(Product.data());
#endif
return res;
}
};
src/lib/mathlib/math/Vector.hpp
+1 -8
View File
@@ -45,12 +45,9 @@
#include <stdio.h>
#include <math.h>
#include <string.h>
#ifdef CONFIG_ARCH_ARM
#include "../CMSIS/Include/arm_math.h"
#else
#include <platforms/ros/eigen_math.h>
#endif
#include <platforms/px4_defines.h>
@@ -72,11 +69,7 @@ public:
/**
* struct for using arm_math functions, represents column vector
*/
#ifdef CONFIG_ARCH_ARM
arm_matrix_instance_f32 arm_col;
#else
eigen_matrix_instance arm_col;
#endif
/**