kamilritz
8a59b463f2
Quaternion: Use template type instead of single hardcoded type
2020-07-17 10:37:18 +02:00
Nicolas MARTIN
38b3acce96
fix conjugate_inversed comment
2020-06-11 16:17:28 +02:00
Matthias Grob
2bee0d078c
Quaternion: refactor multiplication to matrix multiplication style
...
Most often the multiplication in convention descriptions and papers is
described in matrix multiplication style like this:
q · p := Q(q)p
Q(q) :=
[q0 −q1 −q2 −q3]
[q1 q0 −q3 q2]
[q2 q3 q0 −q1]
[q3 −q2 q1 q0]
I'm just rearanging the terms such that it's easily comparable with
these definitions additional to it being clearly described by
documenting we use the hamilton convention.
2020-05-06 13:17:02 +02:00
kamilritz
a37b91c96a
Type cast remaining integer
2020-01-13 12:21:18 +01:00
kritz
e81483a808
Catch quaternion canonical corner cases ( #116 )
2019-12-18 14:12:47 +01:00
Daniel Agar
a8009a36a3
Quaternion multiply inline return
2019-11-29 14:40:11 -05:00
Julian Kent
215203fc6f
Automatic Differentiation 'Dual' Type ( #100 )
...
* Dual numbers initial implementation
* Add test coverage, with partial derivative example
* Add Jacobian test, fix small issues
* Improve test to demonstrate non-square jacobian
* Better naming for collectReals/Derivatives
* Improve comments
* Potential GCC 4.8 bug workaround
* Add fallback workaround for non-IEEE float platforms
2019-10-23 12:07:51 +02:00
Matthias Grob
740324cf1e
Make all array constructors explicit ( #99 )
...
* Make all array constructors explicit
to avoid accidental implicit casts like e.g.
Vector3f v = 0;
assigning nullpointer content.
2019-10-03 13:38:51 +02:00
Matthias Grob
973999a4d3
Fix some template type conversions and style
2019-09-23 10:59:12 +02:00
Matthias Grob
a374f37a54
Include helper_functions like all other library components
2019-09-18 09:59:50 +02:00
kritz
84b3da227c
Canonical Quaternion with tests ( #81 )
2019-08-22 15:05:14 +02:00
Matthias Grob
18fba8221c
quaternion: improve comments
2018-12-16 20:16:38 +01:00
Matthias Grob
a4f39c0f89
quaternion: reuse existing dot product
2018-12-16 20:16:38 +01:00
Daniel Agar
dc3af80977
constructors use array size rather than pointers
2018-08-31 08:11:02 +02:00
Daniel Agar
f1bee775a0
use default constructors and skip unnecessary initialization
2018-08-31 08:11:02 +02:00
Daniel Agar
1bcf48bd82
Quaternion from_dcm don't pass by value
2018-08-30 12:07:48 -04:00
Daniel Agar
21d47424c6
Quaternion mark const helpers const
2018-04-01 17:02:20 -04:00
Matthias Grob
f835d39017
Quaternion/Vector: Small refactor for review: put more comments, switched type conversions, took out default destination vector because confusing
2017-12-04 15:34:13 +01:00
Matthias Grob
84cd7483ae
Quaternion: added constructor which generates the shortest rotation that maps one vector to another
...
including tedious corner case handling for parallel vectors with 180 degree rotations
2017-12-04 15:34:13 +01:00
Matthias Grob
1dffd5930b
Matrix: add copyTo copying data to an array and copyToColumnMajor which does the same but with column-major order
...
same functionality explicitly for quaternions can be deleted
2017-11-16 04:42:54 +01:00
Matthias Grob
f4243160e2
Quaternion: changed comments because of typos and unclear inconsistent indexing
2017-10-17 17:37:23 +02:00
Matthias Grob
ee2219b836
Quaternion: replace conversion in rotate() with AxisAngle call
2017-10-17 17:37:23 +02:00
Matthias Grob
b241cf5c95
Quaternion: Adjusted rotate() to the Hamilton convention (which we switched to)
...
Note: This error was not caught by a test because the test included only trivial cases which do not explore non-commuting quaternions.
2017-10-17 17:37:23 +02:00
Matthias Grob
6b1fea76d0
Quaternion: added and adjusted comments to further explain conjugation and derivative functionality
2017-10-17 17:37:23 +02:00
Matthias Grob
0a772f59dd
Quaternion: added direct efficient body z-axis calculation with test
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
66e1b406b8
Remove artifical need to virtualize dtors
2017-03-23 20:22:45 -07:00
Pavel Kirienko
9ebf5f89db
Removed all use of C library from the matrix namespace
2017-03-17 12:18:39 -04:00
Daniel Agar
68c7cc5bfd
Quaternion add copyTo
2017-02-24 20:47:41 -05:00
James Goppert
63aea23f9e
Add cholesky decomp, Closes #30 , and dynamic print buf
2017-02-03 17:54:16 -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
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
3aeb099249
Revert "Use Hamilton quaternion definition."
...
This reverts commit 19554c4470
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
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
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
f4e2b21608
- better description for quaternion class
...
- revert conversion functions to constructor
2016-05-16 09:21:44 +02:00
Roman
4a405e7f60
make it clear that we are using right hand rotation convention
2016-05-15 18:42:21 +02:00
Roman
10c1b49bde
fix typo
2016-05-15 18:42:21 +02:00
Roman
1033e145a5
fix some typos and better explanation of quaternion ordering
2016-05-15 18:42:21 +02:00
Roman
2b3bdb523d
better description for quaternion class
2016-05-15 18:42:21 +02:00
Roman
3152d3d6cf
better function descriptions for rotation classes:
...
- do not talk specifically about body or earth frame, just use frame 1 and frame 2
2016-05-15 18:42:21 +02:00
Andreas Bircher
e3a1d67444
adding detailed comments on rotation classes
2016-05-15 18:42:21 +02:00
Andreas Bircher
af2e6d952e
correcting comments
2016-05-15 18:42:21 +02:00
Andreas Bircher
34e6e2a941
refactoring rotation classes and adding initial description
2016-05-15 18:42:21 +02:00
kamilritz