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Commit Graph

145 Commits

Author SHA1 Message Date
Matthias Grob
0a772f59dd Quaternion: added direct efficient body z-axis calculation with test 2017-09-26 11:20:56 +02:00
Matthias Grob
976461eb0f Dcm: more efficient conversion from quaternion, extend reuse of multiplications 2017-09-26 11:20:56 +02:00
Matthias Grob
baf54ad29f quaternion: correcting comments 
^(-1) went missing and some phrase was inprecise
 2017-09-25 12:18:10 +01:00
James Goppert
e595ebb9a7 Switch to Hamilton quaternions and add Cholesky decomposition. 2017-08-31 11:09:20 +02:00
Nate Weibley
471e96ff6f Provide const dataptr access 2017-03-23 20:22:45 -07:00
Nate Weibley
2ad3ec46b9 Mark simple min, max, abs methods as const 2017-03-23 20:22:45 -07:00
Nate Weibley
66e1b406b8 Remove artifical need to virtualize dtors 2017-03-23 20:22:45 -07:00
Pavel Kirienko
499b897e5f Style fix 2017-03-17 12:18:39 -04:00
Pavel Kirienko
99b44c0242 NuttX math lib workaround 2017-03-17 12:18:39 -04:00
Pavel Kirienko
8dbe4a7531 NuttX workaround 2017-03-17 12:18:39 -04:00
Pavel Kirienko
23def31d21 Fixed stdlib imports 2017-03-17 12:18:39 -04:00
Pavel Kirienko
9ebf5f89db Removed all use of C library from the matrix namespace 2017-03-17 12:18:39 -04:00
Pavel Kirienko
552dad40a1 Fixed inclusions in matrix/ 2017-03-17 12:18:39 -04:00
Daniel Agar
cfa68c2196 clang-tidy trivial cleanup 2017-02-24 20:47:41 -05:00
Daniel Agar
f00edc9442 update to astyle 2.06 and fix formatting 2017-02-24 20:47:41 -05:00
Daniel Agar
68c7cc5bfd Quaternion add copyTo 2017-02-24 20:47:41 -05:00
Daniel Agar
e2211c5867 QuRT use __builtin_isfinite 2017-02-15 19:30:19 -05:00
Lorenz Meier
2283e6946a Matrix inversion: Ensure that null check is done against the same type 2017-02-04 10:42:10 +01:00
James Goppert
843be9418b Rename isfinite to is_finite to avoid name conflicts. 2017-02-03 18:15:43 -05:00
James Goppert
63aea23f9e Add cholesky decomp, Closes #30, and dynamic print buf 2017-02-03 17:54:16 -05:00
James Goppert
a154e14439 Fix coverage for inverse. 2017-02-03 17:24:15 -05:00
James Goppert
db6dfeafbe Add helper_functions include for inverse and in general header 2017-02-03 16:56:33 -05:00
James Goppert
230e84702a Fix unit test, create matrix isfinite. 2017-02-03 16:25:55 -05:00
Siddharth Bharat Purohit
7e3eff7b2d remove unnecessary duplicate matrices from inverse 2017-02-03 16:12:17 -05:00
Matthias Grob
2f4427a923 Quaternion: Implemented the largest pivot element method for conversion from Dcm to Quaternion to avoid numerical problems 2016-12-14 17:55:05 +01:00
Matthias Grob
bb1a321639 Changed Dcm to inherit from SquareMatrix because it is square and we can use the trace method 2016-12-14 17:42:45 +01:00
James Goppert
7eff04742c Fix for zero check on quat from dcm ctor. 2016-12-13 10:21:55 -05:00
James Goppert
74a120f554 Handle some divide by zero edge cases on init. 2016-11-30 01:27:48 -05:00
James Goppert
945edbc58c Ensure direction is always defined for axis angle. 2016-11-30 00:40:55 -05:00
James Goppert
8a94f0f8ac Fix axis angle fabsf usage. 2016-11-28 10:43:29 -05:00
James Goppert
f3e478cbff Fix matrix inverse pivotting logic. 2016-11-22 10:04:45 -05:00
James Goppert
34fccdd680 add renormalize method (#32) 2016-11-02 12:10:30 -04:00
James Goppert
3aeb099249 Revert "Use Hamilton quaternion definition." 
This reverts commit 19554c4470cd6322ffd18cb20a96485940f226b6.
 2016-08-18 16:51:00 -04:00
James Goppert
0eb8aa0c0b Support more of mathlib function for easier swap in px4. 2016-08-16 19:03:54 -04:00
James Goppert
558777f34c Fix formatting. 2016-08-16 12:43:42 -04:00
James Goppert
262a715d90 Fix some when building in px4. 2016-08-16 12:37:41 -04:00
James Goppert
6197515a51 Fix shadow warnings. 2016-08-16 11:50:46 -04:00
James Goppert
4f13809420 Added axis angle accessors, removed == operator. 2016-08-16 11:05:01 -04:00
James Goppert
19554c4470 Use Hamilton quaternion definition. 2016-08-16 03:59:06 -04:00
James Goppert
e6a6b4680c Use quaternion multiplaction for quaternion derivative. 2016-08-16 01:03:23 -04:00
James Goppert
cbb7e06a1f Replace float with Type in kalman. 2016-07-06 01:39:06 -04:00
James Goppert
9353e4cb64 Fix bugs in axis angle. 2016-07-06 01:37:50 -04:00
James Goppert
7b7297b674 Fix for ctor comments on axis angle. 2016-07-05 21:30:22 -04:00
James Goppert
0b1bed6b00 Added deprecation warnings in source code. 2016-07-05 21:16:17 -04:00
James Goppert
0f41af271a Added axis angle attitude representation. (#25) 2016-07-05 20:59:42 -04:00
Beat Küng
b1f76782f6 Euler, Quaternion: fix compiler errors for GCC 6.1.1 (#23) 
* Euler, Quaternion: fix compiler errors for GCC 6.1.1

GCC output:
error: implicit conversion from ‘float’ to ‘double’ to match other operand
of binary expression [-Werror=double-promotion]

* astyle: fix formatting for Euler.hpp & Quaternion.hpp
 2016-07-05 17:00:35 -04:00
Roman
eeb595d1db applied formatting 2016-05-17 08:27:35 +02:00
Roman
f4e2b21608 - better description for quaternion class 
- revert conversion functions to constructor
 2016-05-16 09:21:44 +02:00
Andreas Bircher
81eacb0cfa removing body and intertial frame expressions and establishing consistency 2016-05-15 18:42:21 +02:00
Roman
4a405e7f60 make it clear that we are using right hand rotation convention 2016-05-15 18:42:21 +02:00