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30 Commits
Author SHA1 Message Date
kamilritz a37b91c96a Type cast remaining integer 2020-01-13 12:21:18 +01:00
Julien LecoeurandMathieu Bresciani a172c3cdac Add implementation of pseudo-inverse (#102) 
* Fix compilation error

* Add implementation of pseudo-inverse

The implementation is based on this publication:
Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809
It is a fully templated implementation to guaranty type correctness.

* Add tests for pseudoinverse

* Apply suggestions from code review

Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com>

* Adapt fullRankCholesky tolerance to type

* Add pseudoinverse test with effectiveness matrix

* Fix coverage

* Fix rebase issue

* Fix SquareMatrix test, add null Matrix test
 2019-11-18 14:36:30 -08:00
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
Julian Kent b817e8677d Add helpers based on Slice: row(), col(), xy() 2019-09-16 16:11:08 +02:00
Daniel Agar f1bee775a0 use default constructors and skip unnecessary initialization 2018-08-31 08:11:02 +02:00
Matthias Grob 976461eb0f Dcm: more efficient conversion from quaternion, extend reuse of multiplications 2017-09-26 11:20:56 +02:00
Nate Weibley 66e1b406b8 Remove artifical need to virtualize dtors 2017-03-23 20:22:45 -07:00
Daniel Agar cfa68c2196 clang-tidy trivial cleanup 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 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 34fccdd680 add renormalize method (#32) 2016-11-02 12:10:30 -04:00
James Goppert 0f41af271a Added axis angle attitude representation. (#25) 2016-07-05 20:59:42 -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 1033e145a5 fix some typos and better explanation of quaternion ordering 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
Matthias Grob 65679fbcbb Features and fixes 
* 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 ffbe58ca10 Added better roundtrip euler test. 2016-01-24 00:39:21 -05:00
Thomas Gubler 99ac532746 remove unnecessary ; 2015-12-26 12:07:12 +01:00
jgoppert 1fb0f33eb4 Removed old references to matrix.hpp. 2015-11-07 11:08:17 -05:00
jgoppert fd64e7e93a More testing and cleanup. 2015-11-05 12:28:39 -05:00
jgoppert 0062cbcbe2 Added more warnings, and fixed issues. 2015-11-05 11:17:54 -05:00
jgoppert f7b1c63b86 Work on testing. 2015-11-05 10:44:21 -05:00
jgoppert 12713105b8 Fixed quaternion unit test. 2015-11-04 00:48:59 -05:00
jgoppert 49035ed6a9 Added mode lines for vi. 2015-11-03 20:26:42 -05:00
jgoppert a36ff9f1e5 Formatting and added Scalar. 2015-11-03 19:38:31 -05:00
jgoppert 76e86cf937 Initial commit. 2015-11-03 14:46:54 -05:00