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/****************************************************************************
* Copyright (c) 2014, Paul Riseborough All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 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.
*
* Neither the name of the {organization} 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 HOLDER 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 estimator_utilities.cpp
*
* Estimator support utilities.
*
* @author Paul Riseborough <p_riseborough@live.com.au>
* @author Lorenz Meier <lorenz@px4.io>
*/
#include "estimator_utilities.h"
// Define EKF_DEBUG here to enable the debug print calls
// if the macro is not set, these will be completely
// optimized out by the compiler.
//#define EKF_DEBUG
#ifdef EKF_DEBUG
#include <stdio.h>
#include <stdarg.h>
static void
ekf_debug_print(const char *fmt, va_list args)
{
fprintf(stderr, "%s: ", "[ekf]");
vfprintf(stderr, fmt, args);
fprintf(stderr, "\n");
}
void
ekf_debug(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
ekf_debug_print(fmt, args);
}
#else
void ekf_debug(const char *fmt, ...) { while(0){} }
#endif
float Vector3f::length(void) const
{
return sqrt(x*x + y*y + z*z);
}
void Vector3f::zero(void)
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
Mat3f::Mat3f() :
x{1.0f, 0.0f, 0.0f},
y{0.0f, 1.0f, 0.0f},
z{0.0f, 0.0f, 1.0f}
{
}
void Mat3f::identity() {
x.x = 1.0f;
x.y = 0.0f;
x.z = 0.0f;
y.x = 0.0f;
y.y = 1.0f;
y.z = 0.0f;
z.x = 0.0f;
z.y = 0.0f;
z.z = 1.0f;
}
Mat3f Mat3f::transpose(void) const
{
Mat3f ret = *this;
swap_var(ret.x.y, ret.y.x);
swap_var(ret.x.z, ret.z.x);
swap_var(ret.y.z, ret.z.y);
return ret;
}
// overload + operator to provide a vector addition
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x + vecIn2.x;
vecOut.y = vecIn1.y + vecIn2.y;
vecOut.z = vecIn1.z + vecIn2.z;
return vecOut;
}
// overload - operator to provide a vector subtraction
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x - vecIn2.x;
vecOut.y = vecIn1.y - vecIn2.y;
vecOut.z = vecIn1.z - vecIn2.z;
return vecOut;
}
// overload * operator to provide a matrix vector product
Vector3f operator*( Mat3f matIn, Vector3f vecIn)
{
Vector3f vecOut;
vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
return vecOut;
}
// overload * operator to provide a matrix product
Mat3f operator*( Mat3f matIn1, Mat3f matIn2)
{
Mat3f matOut;
matOut.x.x = matIn1.x.x*matIn2.x.x + matIn1.x.y*matIn2.y.x + matIn1.x.z*matIn2.z.x;
matOut.x.y = matIn1.x.x*matIn2.x.y + matIn1.x.y*matIn2.y.y + matIn1.x.z*matIn2.z.y;
matOut.x.z = matIn1.x.x*matIn2.x.z + matIn1.x.y*matIn2.y.z + matIn1.x.z*matIn2.z.z;
matOut.y.x = matIn1.y.x*matIn2.x.x + matIn1.y.y*matIn2.y.x + matIn1.y.z*matIn2.z.x;
matOut.y.y = matIn1.y.x*matIn2.x.y + matIn1.y.y*matIn2.y.y + matIn1.y.z*matIn2.z.y;
matOut.y.z = matIn1.y.x*matIn2.x.z + matIn1.y.y*matIn2.y.z + matIn1.y.z*matIn2.z.z;
matOut.z.x = matIn1.z.x*matIn2.x.x + matIn1.z.y*matIn2.y.x + matIn1.z.z*matIn2.z.x;
matOut.z.y = matIn1.z.x*matIn2.x.y + matIn1.z.y*matIn2.y.y + matIn1.z.z*matIn2.z.y;
matOut.z.z = matIn1.z.x*matIn2.x.z + matIn1.z.y*matIn2.y.z + matIn1.z.z*matIn2.z.z;
return matOut;
}
// overload % operator to provide a vector cross product
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(Vector3f vecIn1, float sclIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(float sclIn1, Vector3f vecIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
void swap_var(float &d1, float &d2)
{
float tmp = d1;
d1 = d2;
d2 = tmp;
}
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