diff options
author | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:08:50 -0500 |
---|---|---|
committer | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:08:50 -0500 |
commit | db3fabc3baccdeef3108544b4e9da9c8f0895a58 (patch) | |
tree | 27ae1dfc7a5b36e3520abcb4a8346c607524c5a1 /apps/examples | |
parent | 1579630efef6f719deefd0949f73c5df2bcc127b (diff) | |
download | px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.tar.gz px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.tar.bz2 px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.zip |
Added math library.
Diffstat (limited to 'apps/examples')
-rw-r--r-- | apps/examples/math_demo/Makefile | 42 | ||||
-rw-r--r-- | apps/examples/math_demo/math_demo.cpp | 110 |
2 files changed, 152 insertions, 0 deletions
diff --git a/apps/examples/math_demo/Makefile b/apps/examples/math_demo/Makefile new file mode 100644 index 000000000..a1105899a --- /dev/null +++ b/apps/examples/math_demo/Makefile @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Basic example application +# + +APPNAME = math_demo +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 8192 + +include $(APPDIR)/mk/app.mk diff --git a/apps/examples/math_demo/math_demo.cpp b/apps/examples/math_demo/math_demo.cpp new file mode 100644 index 000000000..4df082877 --- /dev/null +++ b/apps/examples/math_demo/math_demo.cpp @@ -0,0 +1,110 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Example User <mail@example.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file math_demo.cpp + * Demonstration of math library + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <systemlib/systemlib.h> +#include <systemlib/math/Vector.hpp> +#include <systemlib/math/Matrix.hpp> +#include <systemlib/math/Quaternion.hpp> +#include <systemlib/math/Vector3.hpp> +#include <systemlib/math/Dcm.hpp> +#include <systemlib/math/EulerAngles.hpp> + +/** + * Management function. + */ +extern "C" __EXPORT int math_demo_main(int argc, char *argv[]); + +/** + * Test function + */ +void test(); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + fprintf(stderr, "usage: math_demo {test}\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int math_demo_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "test")) { + test(); + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +void test() +{ + printf("beginning math lib test\n"); + using namespace math; + vectorTest(); + matrixTest(); + vector3Test(); + eulerAnglesTest(); + quaternionTest(); + dcmTest(); +} |