164 Commits

Author	SHA1	Message	Date
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
Roman Bapst	b815fc97c4	replace quiet_NaN() with INFINITY (#70) ... - solves undefined symbols for QURT Signed-off-by: Roman <bapstroman@gmail.com>	2018-06-12 12:24:51 -04:00
Daniel Agar	03a3e3ad46	helper_functions add wrap_2pi	2018-06-10 10:56:45 +02:00
Daniel Agar	21d47424c6	Quaternion mark const helpers const	2018-04-01 17:02:20 -04:00
James Goppert	d142ac234c	Fix coverage and bug in matrix equal test.	2018-03-28 00:09:01 -04:00
Daniel Agar	50446a55c8	Matrix add == and != operators	2018-03-27 15:05:22 -04:00
Daniel Agar	61af508755	helper_functions include required px4_defines header	2018-03-19 02:24:38 -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	5130da206a	Vector: added norm_squared() because sometimes you can safe the sqrt operation	2017-12-04 15:34:13 +01:00
Matthias Grob	41ad2bdea5	Matrix: added copyToRaw method to allow copying to a pointer ... because most uORB messages still contain all components of a vector one by one after each other	2017-11-17 09:30:56 +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	9e59691e43	Vector: Additional normalization with check for zero norm because it occurs so many times in applications	2017-11-06 17:58:52 +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	0527471a52	Matrix: adjust buffer size calculation to account for additional characters ... Note: If the buffer is too small there's no memory corruption because of the snprintf limit but part of the output gets missing.	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	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