diff options
author | px4dev <px4@purgatory.org> | 2013-01-06 15:04:30 -0800 |
---|---|---|
committer | px4dev <px4@purgatory.org> | 2013-01-06 15:04:30 -0800 |
commit | faced6bfe3826a4fdcfcd72171edbb501226814a (patch) | |
tree | 42714ce675153555255e30894408ece40f4d26c9 /apps | |
parent | 950d104c8d7e335b88c0a7944628c14293a0f676 (diff) | |
download | px4-firmware-faced6bfe3826a4fdcfcd72171edbb501226814a.tar.gz px4-firmware-faced6bfe3826a4fdcfcd72171edbb501226814a.tar.bz2 px4-firmware-faced6bfe3826a4fdcfcd72171edbb501226814a.zip |
Merge James's controllib bits into a separate library module.
Add a top-level mathlib header to avoid having to dig around for specific headers.
Diffstat (limited to 'apps')
-rw-r--r-- | apps/controllib/Makefile | 51 | ||||
-rw-r--r-- | apps/controllib/block/Block.cpp (renamed from apps/systemlib/control/block/Block.cpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/Block.hpp (renamed from apps/systemlib/control/block/Block.hpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/BlockParam.cpp (renamed from apps/systemlib/control/block/BlockParam.cpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/BlockParam.hpp (renamed from apps/systemlib/control/block/BlockParam.hpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/List.hpp (renamed from apps/systemlib/control/block/List.hpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/UOrbPublication.cpp (renamed from apps/systemlib/control/block/UOrbPublication.cpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/UOrbPublication.hpp (renamed from apps/systemlib/control/block/UOrbPublication.hpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/UOrbSubscription.cpp (renamed from apps/systemlib/control/block/UOrbSubscription.cpp) | 0 | ||||
-rw-r--r-- | apps/controllib/block/UOrbSubscription.hpp (renamed from apps/systemlib/control/block/UOrbSubscription.hpp) | 0 | ||||
-rw-r--r-- | apps/controllib/blocks.cpp (renamed from apps/systemlib/control/blocks.cpp) | 0 | ||||
-rw-r--r-- | apps/controllib/blocks.hpp (renamed from apps/systemlib/control/blocks.hpp) | 2 | ||||
-rw-r--r-- | apps/controllib/fixedwing.cpp (renamed from apps/systemlib/control/fixedwing.cpp) | 0 | ||||
-rw-r--r-- | apps/controllib/fixedwing.hpp (renamed from apps/systemlib/control/fixedwing.hpp) | 0 | ||||
-rw-r--r-- | apps/controllib/test_params.c (renamed from apps/systemlib/control/test_params.c) | 0 | ||||
-rw-r--r-- | apps/examples/control_demo/control_demo.cpp | 2 | ||||
-rw-r--r-- | apps/examples/math_demo/math_demo.cpp | 7 | ||||
-rw-r--r-- | apps/mathlib/Makefile | 5 | ||||
-rw-r--r-- | apps/mathlib/math/Dcm.cpp | 2 | ||||
-rw-r--r-- | apps/mathlib/math/EulerAngles.cpp | 2 | ||||
-rw-r--r-- | apps/mathlib/math/Matrix.cpp | 2 | ||||
-rw-r--r-- | apps/mathlib/math/Quaternion.cpp | 2 | ||||
-rw-r--r-- | apps/mathlib/math/Vector.cpp | 2 | ||||
-rw-r--r-- | apps/mathlib/math/Vector3.cpp | 2 | ||||
-rw-r--r-- | apps/mathlib/mathlib.h | 55 |
25 files changed, 116 insertions, 18 deletions
diff --git a/apps/controllib/Makefile b/apps/controllib/Makefile new file mode 100644 index 000000000..07a7ce81d --- /dev/null +++ b/apps/controllib/Makefile @@ -0,0 +1,51 @@ +############################################################################ +# +# 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. +# +############################################################################ + +# +# Control library +# +CXXSRCS += block/Block.cpp \ + block/BlockParam.cpp \ + block/UOrbPublication.cpp \ + block/UOrbSubscription.cpp \ + blocks.cpp \ + fixedwing.cpp + +CXXHDRS += block/Block.hpp \ + block/BlockParam.hpp \ + block/UOrbPublication.hpp \ + block/UOrbSubscription.hpp \ + blocks.hpp \ + fixedwing.hpp + +include $(APPDIR)/mk/app.mk diff --git a/apps/systemlib/control/block/Block.cpp b/apps/controllib/block/Block.cpp index 5994d2315..5994d2315 100644 --- a/apps/systemlib/control/block/Block.cpp +++ b/apps/controllib/block/Block.cpp diff --git a/apps/systemlib/control/block/Block.hpp b/apps/controllib/block/Block.hpp index 258701f27..258701f27 100644 --- a/apps/systemlib/control/block/Block.hpp +++ b/apps/controllib/block/Block.hpp diff --git a/apps/systemlib/control/block/BlockParam.cpp b/apps/controllib/block/BlockParam.cpp index b3f49f7db..b3f49f7db 100644 --- a/apps/systemlib/control/block/BlockParam.cpp +++ b/apps/controllib/block/BlockParam.cpp diff --git a/apps/systemlib/control/block/BlockParam.hpp b/apps/controllib/block/BlockParam.hpp index 7f86d1717..7f86d1717 100644 --- a/apps/systemlib/control/block/BlockParam.hpp +++ b/apps/controllib/block/BlockParam.hpp diff --git a/apps/systemlib/control/block/List.hpp b/apps/controllib/block/List.hpp index 96b0b94d1..96b0b94d1 100644 --- a/apps/systemlib/control/block/List.hpp +++ b/apps/controllib/block/List.hpp diff --git a/apps/systemlib/control/block/UOrbPublication.cpp b/apps/controllib/block/UOrbPublication.cpp index f69b39d90..f69b39d90 100644 --- a/apps/systemlib/control/block/UOrbPublication.cpp +++ b/apps/controllib/block/UOrbPublication.cpp diff --git a/apps/systemlib/control/block/UOrbPublication.hpp b/apps/controllib/block/UOrbPublication.hpp index a36f4429f..a36f4429f 100644 --- a/apps/systemlib/control/block/UOrbPublication.hpp +++ b/apps/controllib/block/UOrbPublication.hpp diff --git a/apps/systemlib/control/block/UOrbSubscription.cpp b/apps/controllib/block/UOrbSubscription.cpp index 022cadd24..022cadd24 100644 --- a/apps/systemlib/control/block/UOrbSubscription.cpp +++ b/apps/controllib/block/UOrbSubscription.cpp diff --git a/apps/systemlib/control/block/UOrbSubscription.hpp b/apps/controllib/block/UOrbSubscription.hpp index 22cc2e114..22cc2e114 100644 --- a/apps/systemlib/control/block/UOrbSubscription.hpp +++ b/apps/controllib/block/UOrbSubscription.hpp diff --git a/apps/systemlib/control/blocks.cpp b/apps/controllib/blocks.cpp index c6c374300..c6c374300 100644 --- a/apps/systemlib/control/blocks.cpp +++ b/apps/controllib/blocks.cpp diff --git a/apps/systemlib/control/blocks.hpp b/apps/controllib/blocks.hpp index 95f2021ce..7a785d12e 100644 --- a/apps/systemlib/control/blocks.hpp +++ b/apps/controllib/blocks.hpp @@ -42,7 +42,7 @@ #include <assert.h> #include <time.h> #include <stdlib.h> -#include <systemlib/test/test.hpp> +#include <mathlib/math/test/test.hpp> #include "block/Block.hpp" #include "block/BlockParam.hpp" diff --git a/apps/systemlib/control/fixedwing.cpp b/apps/controllib/fixedwing.cpp index 695653714..695653714 100644 --- a/apps/systemlib/control/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp diff --git a/apps/systemlib/control/fixedwing.hpp b/apps/controllib/fixedwing.hpp index ea742641c..ea742641c 100644 --- a/apps/systemlib/control/fixedwing.hpp +++ b/apps/controllib/fixedwing.hpp diff --git a/apps/systemlib/control/test_params.c b/apps/controllib/test_params.c index 7c609cad3..7c609cad3 100644 --- a/apps/systemlib/control/test_params.c +++ b/apps/controllib/test_params.c diff --git a/apps/examples/control_demo/control_demo.cpp b/apps/examples/control_demo/control_demo.cpp index c60c5e8b9..d9c773c05 100644 --- a/apps/examples/control_demo/control_demo.cpp +++ b/apps/examples/control_demo/control_demo.cpp @@ -43,7 +43,7 @@ #include <stdlib.h> #include <string.h> #include <systemlib/systemlib.h> -#include <systemlib/control/fixedwing.hpp> +#include <controllib/fixedwing.hpp> #include <systemlib/param/param.h> #include <drivers/drv_hrt.h> #include <math.h> diff --git a/apps/examples/math_demo/math_demo.cpp b/apps/examples/math_demo/math_demo.cpp index 0dc4b3750..a9c556748 100644 --- a/apps/examples/math_demo/math_demo.cpp +++ b/apps/examples/math_demo/math_demo.cpp @@ -43,12 +43,7 @@ #include <stdlib.h> #include <string.h> #include <systemlib/systemlib.h> -#include <mathlib/math/Vector.hpp> -#include <mathlib/math/Matrix.hpp> -#include <mathlib/math/Quaternion.hpp> -#include <mathlib/math/Vector3.hpp> -#include <mathlib/math/Dcm.hpp> -#include <mathlib/math/EulerAngles.hpp> +#include <mathlib/mathlib.h> /** * Management function. diff --git a/apps/mathlib/Makefile b/apps/mathlib/Makefile index 5c4861bbc..fe9b691b3 100644 --- a/apps/mathlib/Makefile +++ b/apps/mathlib/Makefile @@ -32,9 +32,8 @@ ############################################################################ # -# System math library +# Math library # - CXXSRCS = math/test/test.cpp \ math/Vector.cpp \ math/Vector3.cpp \ @@ -51,9 +50,7 @@ CXXHDRS = math/test/test.hpp \ math/Dcm.hpp \ math/Matrix.hpp -# # XXX this really should be a CONFIG_* test -# ifeq ($(TARGET),px4fmu) INCLUDES += math/arm CXXSRCS += math/arm/Vector.cpp \ diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp index 4c2067aff..59f3d88ab 100644 --- a/apps/mathlib/math/Dcm.cpp +++ b/apps/mathlib/math/Dcm.cpp @@ -37,7 +37,7 @@ * math direction cosine matrix */ -#include "test/test.hpp" +#include "math/test/test.hpp" #include "Dcm.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp index b6c1a0669..8991d5623 100644 --- a/apps/mathlib/math/EulerAngles.cpp +++ b/apps/mathlib/math/EulerAngles.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "test/test.hpp" +#include "math/test/test.hpp" #include "EulerAngles.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/Matrix.cpp b/apps/mathlib/math/Matrix.cpp index ebd1aeda3..981732370 100644 --- a/apps/mathlib/math/Matrix.cpp +++ b/apps/mathlib/math/Matrix.cpp @@ -37,7 +37,7 @@ * matrix code */ -#include "test/test.hpp" +#include "math/test/test.hpp" #include <math.h> #include "Matrix.hpp" diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp index 7c4b0593a..68fe85300 100644 --- a/apps/mathlib/math/Quaternion.cpp +++ b/apps/mathlib/math/Quaternion.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "test/test.hpp" +#include "math/test/test.hpp" #include "Quaternion.hpp" diff --git a/apps/mathlib/math/Vector.cpp b/apps/mathlib/math/Vector.cpp index 35158a396..d58e719db 100644 --- a/apps/mathlib/math/Vector.cpp +++ b/apps/mathlib/math/Vector.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "test/test.hpp" +#include "math/test/test.hpp" #include "Vector.hpp" diff --git a/apps/mathlib/math/Vector3.cpp b/apps/mathlib/math/Vector3.cpp index 61fcc442f..9c57506da 100644 --- a/apps/mathlib/math/Vector3.cpp +++ b/apps/mathlib/math/Vector3.cpp @@ -37,7 +37,7 @@ * math vector */ -#include "test/test.hpp" +#include "math/test/test.hpp" #include "Vector3.hpp" diff --git a/apps/mathlib/mathlib.h b/apps/mathlib/mathlib.h new file mode 100644 index 000000000..b919d53db --- /dev/null +++ b/apps/mathlib/mathlib.h @@ -0,0 +1,55 @@ +/**************************************************************************** + * + * 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 mathlib.h + * + * Common header for mathlib exports. + */ + +#ifdef __cplusplus + +#include "math/Dcm.hpp" +#include "math/EulerAngles.hpp" +#include "math/Matrix.hpp" +#include "math/Quaternion.hpp" +#include "math/Vector.hpp" +#include "math/Vector3.hpp" + +#endif + +#ifdef CONFIG_ARCH_ARM + +#include "CMSIS/Include/arm_math.h" + +#endif
\ No newline at end of file |