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."
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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 )
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* 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
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- 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
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:
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- 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
jaredkw
3509329f30
Define M_PI float, change logical and to &&
2016-05-11 18:35:05 -04:00
MaEtUgR
b2eb4d13d8
Matrix.setCol off by one bug fixed
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The Column Vector you are copying from, only has one Column and it is indexed by 0 not 1.
I also completed the unit test stub that would have found this bug.
2016-05-05 13:18:51 +02:00
Matthias Grob
65679fbcbb
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
2016-04-28 15:16:36 -04:00
James Goppert
07fba8322a
Fix for effective cpp.
2016-03-18 20:56:41 -04:00
James Goppert
711b57d2d4
Added unit function that returns normalized vector.
2016-03-15 18:09:48 -04:00
James Goppert
0e14e11183
Added support for attitude_estimator_q functions.
2016-03-15 06:35:13 -04:00
James Goppert
6c04605531
Added conversion for scalar to vector.
2016-02-26 06:10:09 -05:00
James Goppert
2d27cd79d3
Added scalar to matrix conversion.
2016-02-26 05:56:21 -05:00
James Goppert
6974f97b1c
Added scalar const conversion operator.
2016-02-26 05:47:24 -05:00
James Goppert
7b969094cb
Fix for scalar type.
2016-02-26 05:33:16 -05:00
James Goppert
3917ef1992
Merge branch 'master' of github.com:PX4/Matrix
2016-02-26 03:39:28 -05:00
James Goppert
15865897d5
Added pow.
2016-02-26 03:39:04 -05:00
mcsauder
46c83a8c18
Correct a few indexing copy/paste errors that likely previously only functioned properly on square matrices.
2016-02-25 18:51:28 -07:00
James Goppert
95e3d7d6ce
Added set function.
2016-02-16 14:54:15 -05:00
James Goppert
5a01e6c939
Added slice function for matrix.
2016-02-16 12:22:08 -05:00
James Goppert
1ae114b3d2
Improved rk4 integration to allow longer time interval than 1 step.
2016-02-16 10:53:12 -05:00
