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author | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:20:24 -0500 |
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committer | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:20:24 -0500 |
commit | 4f3b17f53b120cd54112097f4217a90863013c1f (patch) | |
tree | 7bdd022758798363544130322b60cd4b935c4a4f /apps/systemlib | |
parent | db3fabc3baccdeef3108544b4e9da9c8f0895a58 (diff) | |
download | px4-firmware-4f3b17f53b120cd54112097f4217a90863013c1f.tar.gz px4-firmware-4f3b17f53b120cd54112097f4217a90863013c1f.tar.bz2 px4-firmware-4f3b17f53b120cd54112097f4217a90863013c1f.zip |
Added math library to build.
Diffstat (limited to 'apps/systemlib')
-rw-r--r-- | apps/systemlib/Makefile | 30 | ||||
-rw-r--r-- | apps/systemlib/test/test.cpp | 88 | ||||
-rw-r--r-- | apps/systemlib/test/test.hpp | 50 |
3 files changed, 166 insertions, 2 deletions
diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile index 5778c552e..b3e7f6ac9 100644 --- a/apps/systemlib/Makefile +++ b/apps/systemlib/Makefile @@ -48,14 +48,40 @@ CSRCS = err.c \ # ppm_decode.c \ +CXXSRCS = test/test.cpp \ + math/Vector.cpp \ + math/Vector3.cpp \ + math/EulerAngles.cpp \ + math/Quaternion.cpp \ + math/Dcm.cpp \ + math/Matrix.cpp + +CXXHDRS = test/test.hpp \ + math/Vector.hpp \ + math/Vector3.hpp \ + math/EulerAngles.hpp \ + math/Quaternion.hpp \ + math/Dcm.hpp \ + math/Matrix.hpp # # XXX this really should be a CONFIG_* test # ifeq ($(TARGET),px4fmu) +INCLUDES += math/arm CSRCS += systemlib.c \ - pid/pid.c \ - geo/geo.c + pid/pid.c \ + geo/geo.c +CXXSRCS += math/arm/Vector.cpp \ + math/arm/Matrix.cpp +CXXHDRS += math/arm/Vector.hpp \ + math/arm/Matrix.hpp +else +INCLUDES += math/generic +CXXSRCS += math/generic/Vector.cpp \ + math/generic/Matrix.cpp +CXXHDRS += math/generic/Vector.hpp \ + math/generic/Matrix.hpp endif include $(APPDIR)/mk/app.mk diff --git a/apps/systemlib/test/test.cpp b/apps/systemlib/test/test.cpp new file mode 100644 index 000000000..aa00e66fa --- /dev/null +++ b/apps/systemlib/test/test.cpp @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file test.cpp + * + * Test library code + */ + +#include <stdio.h> +#include <math.h> + +#include "test.hpp" + +bool __EXPORT equal(float a, float b, float epsilon) +{ + float diff = fabsf(a-b); + if (diff>epsilon) + { + printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b)); + return false; + } + else return true; +} + +void __EXPORT float2SigExp( + const float & num, + float & sig, + int & exp) +{ + if (isnan(num) || isinf(num)) + { + sig = 0.0f; + exp = -99; + return; + } + if (fabsf(num) < 1.0e-38f) + { + sig = 0; + exp = 0; + return; + } + exp = log10f(fabsf(num)); + if (exp>0) { + exp = ceil(exp); + } else { + exp = floor(exp); + } + sig = num; + // cheap power since it is integer + if (exp>0) { + for (int i=0;i<abs(exp);i++) sig /= 10; + } else { + for (int i=0;i<abs(exp);i++) sig *= 10; + } +} + + diff --git a/apps/systemlib/test/test.hpp b/apps/systemlib/test/test.hpp new file mode 100644 index 000000000..860758e7d --- /dev/null +++ b/apps/systemlib/test/test.hpp @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file test.hpp + * + * Controller library code + */ + +#pragma once + +#include <assert.h> +#include <time.h> +#include <stdlib.h> + +bool equal(float a, float b, float eps = 1e-5); +void float2SigExp( + const float & num, + float & sig, + int & exp); |