diff options
Diffstat (limited to 'src/lib/mathlib')
-rw-r--r-- | src/lib/mathlib/math/Limits.cpp | 5 | ||||
-rw-r--r-- | src/lib/mathlib/math/Limits.hpp | 4 | ||||
-rw-r--r-- | src/lib/mathlib/math/Matrix.hpp | 58 | ||||
-rw-r--r-- | src/lib/mathlib/math/Quaternion.hpp | 2 | ||||
-rw-r--r-- | src/lib/mathlib/math/Vector.hpp | 12 |
5 files changed, 76 insertions, 5 deletions
diff --git a/src/lib/mathlib/math/Limits.cpp b/src/lib/mathlib/math/Limits.cpp index d4c892d8a..e16f33bd6 100644 --- a/src/lib/mathlib/math/Limits.cpp +++ b/src/lib/mathlib/math/Limits.cpp @@ -46,6 +46,9 @@ namespace math { +#ifndef CONFIG_ARCH_ARM +#define M_PI_F 3.14159265358979323846f +#endif float __EXPORT min(float val1, float val2) { @@ -143,4 +146,4 @@ double __EXPORT degrees(double radians) return (radians / M_PI) * 180.0; } -}
\ No newline at end of file +} diff --git a/src/lib/mathlib/math/Limits.hpp b/src/lib/mathlib/math/Limits.hpp index fb778dd66..fca4197b8 100644 --- a/src/lib/mathlib/math/Limits.hpp +++ b/src/lib/mathlib/math/Limits.hpp @@ -39,7 +39,7 @@ #pragma once -#include <nuttx/config.h> +#include <platforms/px4_defines.h> #include <stdint.h> namespace math { @@ -84,4 +84,4 @@ float __EXPORT degrees(float radians); double __EXPORT degrees(double radians); -}
\ No newline at end of file +} diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp index ac1f1538f..f6f4fc5ea 100644 --- a/src/lib/mathlib/math/Matrix.hpp +++ b/src/lib/mathlib/math/Matrix.hpp @@ -44,12 +44,20 @@ #define MATRIX_HPP #include <stdio.h> +#include <math.h> + +#ifdef CONFIG_ARCH_ARM #include "../CMSIS/Include/arm_math.h" +#else +#include <platforms/ros/eigen_math.h> +#include <Eigen/Eigen> +#endif +#include <platforms/px4_defines.h> namespace math { -template <unsigned int M, unsigned int N> +template<unsigned int M, unsigned int N> class __EXPORT Matrix; // MxN matrix with float elements @@ -65,7 +73,11 @@ public: /** * struct for using arm_math functions */ +#ifdef CONFIG_ARCH_ARM arm_matrix_instance_f32 arm_mat; +#else + eigen_matrix_instance arm_mat; +#endif /** * trivial ctor @@ -114,6 +126,15 @@ public: memcpy(data, d, sizeof(data)); } +#if defined(__PX4_ROS) + /** + * set data from boost::array + */ + void set(const boost::array<float, 9ul> d) { + set(static_cast<const float*>(d.data())); + } +#endif + /** * access by index */ @@ -273,27 +294,53 @@ public: */ template <unsigned int P> Matrix<M, P> operator *(const Matrix<N, P> &m) const { +#ifdef CONFIG_ARCH_ARM Matrix<M, P> res; arm_mat_mult_f32(&arm_mat, &m.arm_mat, &res.arm_mat); return res; +#else + Eigen::Matrix<float, M, N, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, M, N, Eigen::RowMajor> > + (this->arm_mat.pData); + Eigen::Matrix<float, N, P, Eigen::RowMajor> Him = Eigen::Map<Eigen::Matrix<float, N, P, Eigen::RowMajor> > + (m.arm_mat.pData); + Eigen::Matrix<float, M, P, Eigen::RowMajor> Product = Me * Him; + Matrix<M, P> res(Product.data()); + return res; +#endif } /** * transpose the matrix */ Matrix<N, M> transposed(void) const { +#ifdef CONFIG_ARCH_ARM Matrix<N, M> res; arm_mat_trans_f32(&this->arm_mat, &res.arm_mat); return res; +#else + Eigen::Matrix<float, N, M, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, N, M, Eigen::RowMajor> > + (this->arm_mat.pData); + Me.transposeInPlace(); + Matrix<N, M> res(Me.data()); + return res; +#endif } /** * invert the matrix */ Matrix<M, N> inversed(void) const { +#ifdef CONFIG_ARCH_ARM Matrix<M, N> res; arm_mat_inverse_f32(&this->arm_mat, &res.arm_mat); return res; +#else + Eigen::Matrix<float, M, N, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, M, N, Eigen::RowMajor> > + (this->arm_mat.pData); + Eigen::Matrix<float, M, N, Eigen::RowMajor> MyInverse = Me.inverse(); //not sure if A = A.inverse() is a good idea + Matrix<M, N> res(MyInverse.data()); + return res; +#endif } /** @@ -352,8 +399,17 @@ public: * multiplication by a vector */ Vector<M> operator *(const Vector<N> &v) const { +#ifdef CONFIG_ARCH_ARM Vector<M> res; arm_mat_mult_f32(&this->arm_mat, &v.arm_col, &res.arm_col); +#else + //probably nicer if this could go into a function like "eigen_mat_mult" or so + Eigen::Matrix<float, M, N, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, M, N, Eigen::RowMajor> > + (this->arm_mat.pData); + Eigen::VectorXf Vec = Eigen::Map<Eigen::VectorXf>(v.arm_col.pData, N); + Eigen::VectorXf Product = Me * Vec; + Vector<M> res(Product.data()); +#endif return res; } }; diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp index 21d05c7ef..b3cca30c6 100644 --- a/src/lib/mathlib/math/Quaternion.hpp +++ b/src/lib/mathlib/math/Quaternion.hpp @@ -44,7 +44,7 @@ #define QUATERNION_HPP #include <math.h> -#include "../CMSIS/Include/arm_math.h" + #include "Vector.hpp" #include "Matrix.hpp" diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp index 0ddf77615..781c14d53 100644 --- a/src/lib/mathlib/math/Vector.hpp +++ b/src/lib/mathlib/math/Vector.hpp @@ -45,7 +45,14 @@ #include <stdio.h> #include <math.h> + +#ifdef CONFIG_ARCH_ARM #include "../CMSIS/Include/arm_math.h" +#else +#include <platforms/ros/eigen_math.h> +#endif + +#include <platforms/px4_defines.h> namespace math { @@ -65,7 +72,12 @@ public: /** * struct for using arm_math functions, represents column vector */ + #ifdef CONFIG_ARCH_ARM arm_matrix_instance_f32 arm_col; + #else + eigen_matrix_instance arm_col; + #endif + /** * trivial ctor |