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author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-25 13:03:36 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-25 13:03:36 +0400 |
commit | 8ed193d1159dd64e3bd44668e75aac8b71fa3fa2 (patch) | |
tree | 60e41803745a56d5131eb6bbb6bc8c9940871a62 /src/lib/mathlib/math | |
parent | 9dfe366e908ce0100875996c3ea0d4cfdfcc24bf (diff) | |
download | px4-firmware-8ed193d1159dd64e3bd44668e75aac8b71fa3fa2.tar.gz px4-firmware-8ed193d1159dd64e3bd44668e75aac8b71fa3fa2.tar.bz2 px4-firmware-8ed193d1159dd64e3bd44668e75aac8b71fa3fa2.zip |
mathlib: Matrix and Quaternion cleanup and bugfixes. Copyright updated.
Diffstat (limited to 'src/lib/mathlib/math')
-rw-r--r-- | src/lib/mathlib/math/Matrix.hpp | 57 | ||||
-rw-r--r-- | src/lib/mathlib/math/Quaternion.hpp | 40 | ||||
-rw-r--r-- | src/lib/mathlib/math/Vector.hpp | 20 |
3 files changed, 69 insertions, 48 deletions
diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp index 9896a16d0..584e5e81b 100644 --- a/src/lib/mathlib/math/Matrix.hpp +++ b/src/lib/mathlib/math/Matrix.hpp @@ -1,8 +1,9 @@ /**************************************************************************** * * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Will Perone <will.perone@gmail.com> - * Anton Babushkin <anton.babushkin@me.com> + * Author: Anton Babushkin <anton.babushkin@me.com> + * Pavel Kirienko <pavel.kirienko@gmail.com> + * Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,7 +37,7 @@ /** * @file Matrix.hpp * - * Generic Matrix + * Matrix class */ #ifndef MATRIX_HPP @@ -51,8 +52,6 @@ namespace math template <unsigned int M, unsigned int N> class __EXPORT Matrix; -class __EXPORT Quaternion; - // MxN matrix with float elements template <unsigned int M, unsigned int N> class __EXPORT MatrixBase { @@ -75,6 +74,14 @@ public: arm_mat = {M, N, &data[0][0]}; } + /** + * copyt ctor + */ + MatrixBase(const MatrixBase<M, N> &m) { + arm_mat = {M, N, &data[0][0]}; + memcpy(data, m.data, sizeof(data)); + } + MatrixBase(const float *d) { arm_mat = {M, N, &data[0][0]}; memcpy(data, d, sizeof(data)); @@ -83,29 +90,35 @@ public: /** * access by index */ - inline float &operator ()(unsigned int row, unsigned int col) { + float &operator ()(const unsigned int row, const unsigned int col) { return data[row][col]; } /** * access by index */ - inline const float &operator ()(unsigned int row, unsigned int col) const { + float operator ()(const unsigned int row, const unsigned int col) const { return data[row][col]; } - unsigned int get_rows() { + /** + * get rows number + */ + unsigned int get_rows() const { return M; } - unsigned int get_cols() { + /** + * get columns number + */ + unsigned int get_cols() const { return N; } /** * test for equality */ - bool operator ==(const Matrix<M, N> &m) { + bool operator ==(const Matrix<M, N> &m) const { for (unsigned int i = 0; i < M; i++) for (unsigned int j = 0; j < N; j++) if (data[i][j] != m.data[i][j]) @@ -116,7 +129,7 @@ public: /** * test for inequality */ - bool operator !=(const Matrix<M, N> &m) { + bool operator !=(const Matrix<M, N> &m) const { for (unsigned int i = 0; i < M; i++) for (unsigned int j = 0; j < N; j++) if (data[i][j] != m.data[i][j]) @@ -209,7 +222,7 @@ public: for (unsigned int i = 0; i < M; i++) for (unsigned int j = 0; j < N; j++) data[i][j] /= num; - return *this; + return *static_cast<Matrix<M, N>*>(this); } /** @@ -272,11 +285,11 @@ class __EXPORT Matrix : public MatrixBase<M, N> { public: using MatrixBase<M, N>::operator *; - Matrix() : MatrixBase<M, N>() { - } + Matrix() : MatrixBase<M, N>() {} - Matrix(const float *d) : MatrixBase<M, N>(d) { - } + Matrix(const Matrix<M, N> &m) : MatrixBase<M, N>(m) {} + + Matrix(const float *d) : MatrixBase<M, N>(d) {} /** * set to value @@ -301,11 +314,11 @@ class __EXPORT Matrix<3, 3> : public MatrixBase<3, 3> { public: using MatrixBase<3, 3>::operator *; - Matrix() : MatrixBase<3, 3>() { - } + Matrix() : MatrixBase<3, 3>() {} - Matrix(const float *d) : MatrixBase<3, 3>(d) { - } + Matrix(const Matrix<3, 3> &m) : MatrixBase<3, 3>(m) {} + + Matrix(const float *d) : MatrixBase<3, 3>(d) {} /** * set to value @@ -348,6 +361,9 @@ public: data[2][2] = cr * cp; } + /** + * get euler angles from rotation matrix + */ Vector<3> to_euler(void) const { Vector<3> euler; euler.data[1] = asinf(-data[2][0]); @@ -364,6 +380,7 @@ public: euler.data[0] = atan2f(data[2][1], data[2][2]); euler.data[2] = atan2f(data[1][0], data[0][0]); } + return euler; } }; diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp index c19dbd29c..54d4e72ab 100644 --- a/src/lib/mathlib/math/Quaternion.hpp +++ b/src/lib/mathlib/math/Quaternion.hpp @@ -1,8 +1,9 @@ /**************************************************************************** * * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Will Perone <will.perone@gmail.com> - * Anton Babushkin <anton.babushkin@me.com> + * Author: Anton Babushkin <anton.babushkin@me.com> + * Pavel Kirienko <pavel.kirienko@gmail.com> + * Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,7 +37,7 @@ /** * @file Quaternion.hpp * - * Quaternion + * Quaternion class */ #ifndef QUATERNION_HPP @@ -50,31 +51,32 @@ namespace math { -template <unsigned int N, unsigned int M> -class Matrix; - -class Quaternion : public Vector<4> { +class __EXPORT Quaternion : public Vector<4> { public: /** * trivial ctor */ - Quaternion() : Vector() { - } + Quaternion() : Vector<4>() {} /** - * setting ctor + * copy ctor */ - Quaternion(const float a0, const float b0, const float c0, const float d0): Vector(a0, b0, c0, d0) { - } + Quaternion(const Quaternion &q) : Vector<4>(q) {} - Quaternion(const Vector<4> &v) : Vector(v) { - } + /** + * casting from vector + */ + Quaternion(const Vector<4> &v) : Vector<4>(v) {} - Quaternion(const Quaternion &q) : Vector(q) { - } + /** + * setting ctor + */ + Quaternion(const float d[4]) : Vector<4>(d) {} - Quaternion(const float v[4]) : Vector(v) { - } + /** + * setting ctor + */ + Quaternion(const float a0, const float b0, const float c0, const float d0): Vector<4>(a0, b0, c0, d0) {} using Vector<4>::operator *; @@ -138,8 +140,10 @@ public: R.data[2][0] = 2.0f * (data[1] * data[3] - data[0] * data[2]); R.data[2][1] = 2.0f * (data[0] * data[1] + data[2] * data[3]); R.data[2][2] = aSq - bSq - cSq + dSq; + return R; } }; + } #endif // QUATERNION_HPP diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp index d579ecf73..6bfcc96b6 100644 --- a/src/lib/mathlib/math/Vector.hpp +++ b/src/lib/mathlib/math/Vector.hpp @@ -68,6 +68,7 @@ public: /** * trivial ctor + * note that this ctor will not initialize elements */ VectorBase() { arm_col = {N, 1, &data[0]}; @@ -104,7 +105,7 @@ public: } /** - * get rows number + * get vector size */ unsigned int get_size() const { return N; @@ -113,7 +114,7 @@ public: /** * test for equality */ - bool operator ==(const Vector<N> &v) { + bool operator ==(const Vector<N> &v) const { for (unsigned int i = 0; i < N; i++) if (data[i] != v.data[i]) return false; @@ -123,7 +124,7 @@ public: /** * test for inequality */ - bool operator !=(const Vector<N> &v) { + bool operator !=(const Vector<N> &v) const { for (unsigned int i = 0; i < N; i++) if (data[i] != v.data[i]) return true; @@ -286,10 +287,9 @@ public: template <unsigned int N> class __EXPORT Vector : public VectorBase<N> { public: - //using VectorBase<N>::operator *; Vector() : VectorBase<N>() {} - Vector(const Vector &v) : VectorBase<N>(v) {} + Vector(const Vector<N> &v) : VectorBase<N>(v) {} Vector(const float d[N]) : VectorBase<N>(d) {} @@ -307,8 +307,8 @@ class __EXPORT Vector<2> : public VectorBase<2> { public: Vector() : VectorBase<2>() {} - /* simple copy is 1.6 times faster than memcpy */ - Vector(const Vector &v) : VectorBase<2>() { + // simple copy is 1.6 times faster than memcpy + Vector(const Vector<2> &v) : VectorBase<2>() { data[0] = v.data[0]; data[1] = v.data[1]; } @@ -342,8 +342,8 @@ class __EXPORT Vector<3> : public VectorBase<3> { public: Vector() : VectorBase<3>() {} - /* simple copy is 1.6 times faster than memcpy */ - Vector(const Vector &v) : VectorBase<3>() { + // simple copy is 1.6 times faster than memcpy + Vector(const Vector<3> &v) : VectorBase<3>() { for (unsigned int i = 0; i < 3; i++) data[i] = v.data[i]; } @@ -382,7 +382,7 @@ class __EXPORT Vector<4> : public VectorBase<4> { public: Vector() : VectorBase() {} - Vector(const Vector &v) : VectorBase<4>() { + Vector(const Vector<4> &v) : VectorBase<4>() { for (unsigned int i = 0; i < 4; i++) data[i] = v.data[i]; } |