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221 Commits

Author SHA1 Message Date
kritz
d18be0d0fa Fix AngleAxis constructors (#117) 2019-12-28 17:18:15 -05:00
kritz
e81483a808 Catch quaternion canonical corner cases (#116) 2019-12-18 14:12:47 +01:00
kritz
4f3565da94 Add asserts (#115) 
* Add asserts

* Type cast literals

* asserts for indexing vectors

* include assert

* Fix accessing elements outside of slice
 2019-12-09 10:21:27 +01:00
kritz
2f6398168d Add several functions that are useful for coavriance matrices: (#114) 
* uncorrelateCovariance
	* uncorrelateCovarianceSetVariance
	* makeBlockSymmetric
	* makeRowColSymmetric
	* isBlockSymmetric
	* isRowColSymmetric
 2019-12-06 12:03:26 +01:00
kritz
5cbcf6035a Set Matrix's col amd row to single value (#113) 2019-12-05 18:16:14 +01:00
kritz
ef442fab92 Getter function for the diag elements of slice (#112) 2019-12-05 11:39:21 +01:00
kritz
de6a2d31ff Slice assign value (#111) 
* Assign value to slice

* Readme for formatting
 2019-12-04 14:33:33 +01:00
Daniel Agar
a8009a36a3 Quaternion multiply inline return 2019-11-29 14:40:11 -05:00
Daniel Agar
dba84236cb Vector3f cross product directly return result (#109) 2019-11-28 10:36:13 +01:00
Matthias Grob
de85dcff97 Vector: switch read only functions to const (#108) 2019-11-26 13:46:45 +01:00
Julien Lecoeur
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
Daniel Agar
cd185c995b add braces around statements and cleanup formatting (#107) 2019-11-13 10:41:38 -08:00
kritz
38e966cea1 Add min, max, constrain function for Matrix (#105) 
* Add min, max, constrain function for Matrix

* Set individual elements to nan in constrain

* Deal with NANs
 2019-11-12 18:57:12 +01:00
Julian Kent
9f46483951 Fix GCC-4.8 bug 2019-11-04 11:11:30 -05:00
Julian Kent
445f58d484
Fix weird C preprocessor conflicts (#101) 2019-11-01 14:23:35 +01:00
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
Julian Kent
92d1c8761e
More features: longerThan, norm, copyTo and slice on a Slice (#97) 
* Allow slices of slices, add longerThan to Vector/Slice
 2019-10-03 13:47:36 +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
c34e8dc98f helper: consider matrices with the same NANs and INFINITYs equal 
to simplify bulk checks when these values are expected
 2019-09-18 09:59:50 +02:00
Matthias Grob
bbaa93880b helper: consider NAN equal to NAN such that vectors can be compared exactly 2019-09-18 09:59:50 +02:00
Matthias Grob
33a629105c Matrix: add proper print function testing 
Before the print function was just implicitly called somewhere
and that's why we had 100% line coverage. With this we have actual
testing of the functions.
 2019-09-18 09:59:50 +02:00
Matthias Grob
3747232724 LeastSquaresSolver: Fix nasty GCC compile optimization error 
The original implementation with no wrapping on size_t is more readable
but the compiler errors with:
internal compiler error: in trunc_int_for_mode, at explow.c:55
I read up and it's apparently a loop optimization problem.
Inspired by https://stackoverflow.com/a/27224697/6326048
I used a far less readable implementation that works fine and
wrote a comment to explain it.
 2019-09-18 09:59:50 +02:00
Matthias Grob
5844b0e46e Implement one float equality check and use it everywhere 2019-09-18 09:59:50 +02:00
Matthias Grob
a374f37a54 Include helper_functions like all other library components 2019-09-18 09:59:50 +02:00
James Goppert
60c9c99dcc Fix type for division. 2019-09-17 11:08:00 -04:00
Julian Kent
b4714e2ed2 Don't lose array sizes in copyTo 2019-09-17 15:09:12 +02:00
Julian Kent
51d2f9f0dc Remove direct access to internal data 2019-09-16 21:58:32 -04:00
Julian Kent
b817e8677d Add helpers based on Slice: row(), col(), xy() 2019-09-16 16:11:08 +02:00
Julian Kent
82d565f4d9 Add support for Slice to Matrix, SquareMatrix, Vector 2019-09-16 16:11:08 +02:00
Julian Kent
af1378cc55 Add Slice class 2019-09-16 16:11:08 +02:00
Julian Kent
15865b741c Help compiler with name resolution to avoid overload mixups 2019-09-09 11:18:57 -07:00
Julian Kent
03ffd696a6 Replace pow with sqrt 2019-09-09 02:18:10 -07:00
Julian Kent
22bf63cb71 A smaller codesize wrap, since it gets inlined in many places 2019-09-05 22:31:13 +02:00
Tanja Baumann
26fd962cbe fix bug in matrix wrap function (#83) 2019-09-05 11:21:41 +02:00
Julian Kent
4a4309327a better API comment 
Co-Authored-By: Julian Oes <julian@oes.ch>
 2019-09-05 10:19:47 +02:00
Matthias Grob
31450c407c Matrix: use existing print() if isEqual test fails 2019-09-05 10:19:47 +02:00
Matthias Grob
315010bae1 helper_functions: generalize wrap function to any range 2019-09-05 10:19:47 +02:00
Matthias Grob
007c7c58c4 fix math defines to have M_PI and M_TWOPI 2019-09-05 10:19:47 +02:00
Martina Rivizzigno
cc084e0791 matrix: add method to check all values are nan (#82) 2019-08-26 19:27:58 +02:00
kritz
84b3da227c Canonical Quaternion with tests (#81) 2019-08-22 15:05:14 +02:00
Oskar Weigl
5ccfa74c72 Fix const error 2019-03-08 19:17:40 +00:00
Oskar Weigl
eea6b59973 Implement slice as copy loop 2019-03-08 19:17:40 +00:00
TSC21
ec436d5aee define FLT_EPSILON; be descriptive about upper_right_triangle() method 2019-02-24 17:14:05 +00:00
TSC21
7355a29a2a tests: use __FLT_EPSILON__ in comparisons 2019-02-24 17:14:05 +00:00
TSC21
96cb9ab146 add NaN value set for Matrix; add return of URT of a matrix 2019-02-24 17:14:05 +00:00
Daniel Agar
6b0777d815
stdlib_imports cinttypes currently unavailable in NuttX toolchain (#79) 2019-01-21 09:12:36 -05:00
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
Matthias Grob
9c0acfba36 Matrix: remove unsafe copyToRaw method 
It used a pointer and could therefore not do correct type checking
for index out of bound or struct memebr order.
Has to be considered unsafe and bad practise.
We should switch to arrays as representation for vectors
inside the messages instead of foo_x, foo_y, foo_z fields.
 2018-11-20 16:39:44 +00:00