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Merge commit 'd9491b20cc5fc8b683eb0f60a50da6b322b55e57' into local/mathlib

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This commit is contained in:
px4dev
2013-01-06 12:57:33 -08:00
parent 95aa959571 d9491b20cc
commit 98a53e85d6
19 changed files with 1432 additions and 1453 deletions
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Tools/fix_code_style_ubuntu.sh
Executable
+19
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@@ -0,0 +1,19 @@
#!/bin/sh
astyle \
--style=linux \
--indent=force-tab=8 \
--indent-cases \
--indent-preprocessor \
--break-blocks=all \
--pad-oper \
--pad-header \
--unpad-paren \
--keep-one-line-blocks \
--keep-one-line-statements \
--align-pointer=name \
--suffix=none \
--lineend=linux \
$*
#--ignore-exclude-errors-x \
#--exclude=EASTL \
#--align-reference=name \
apps/systemlib/math/Dcm.cpp
+60 -60
View File
@@ -48,64 +48,64 @@ namespace math
{
Dcm::Dcm() :
Matrix(Matrix::identity(3))
Matrix(Matrix::identity(3))
{
}
Dcm::Dcm(const float * data) :
Matrix(3,3,data)
Dcm::Dcm(const float *data) :
Matrix(3, 3, data)
{
}
Dcm::Dcm(const Quaternion & q) :
Matrix(3,3)
Dcm::Dcm(const Quaternion &q) :
Matrix(3, 3)
{
Dcm & dcm = *this;
float a = q.getA();
float b = q.getB();
float c = q.getC();
float d = q.getD();
float aSq = a*a;
float bSq = b*b;
float cSq = c*c;
float dSq = d*d;
dcm(0,0) = aSq + bSq - cSq - dSq;
dcm(0,1) = 2*(b*c - a*d);
dcm(0,2) = 2*(a*c + b*d);
dcm(1,0) = 2*(b*c + a*d);
dcm(1,1) = aSq - bSq + cSq - dSq;
dcm(1,2) = 2*(c*d - a*b);
dcm(2,0) = 2*(b*d - a*c);
dcm(2,1) = 2*(a*b + c*d);
dcm(2,2) = aSq - bSq - cSq + dSq;
Dcm &dcm = *this;
float a = q.getA();
float b = q.getB();
float c = q.getC();
float d = q.getD();
float aSq = a * a;
float bSq = b * b;
float cSq = c * c;
float dSq = d * d;
dcm(0, 0) = aSq + bSq - cSq - dSq;
dcm(0, 1) = 2 * (b * c - a * d);
dcm(0, 2) = 2 * (a * c + b * d);
dcm(1, 0) = 2 * (b * c + a * d);
dcm(1, 1) = aSq - bSq + cSq - dSq;
dcm(1, 2) = 2 * (c * d - a * b);
dcm(2, 0) = 2 * (b * d - a * c);
dcm(2, 1) = 2 * (a * b + c * d);
dcm(2, 2) = aSq - bSq - cSq + dSq;
}
Dcm::Dcm(const EulerAngles & euler) :
Matrix(3,3)
Dcm::Dcm(const EulerAngles &euler) :
Matrix(3, 3)
{
Dcm & dcm = *this;
float cosPhi = cosf(euler.getPhi());
float sinPhi = sinf(euler.getPhi());
float cosThe = cosf(euler.getTheta());
float sinThe = sinf(euler.getTheta());
float cosPsi = cosf(euler.getPsi());
float sinPsi = sinf(euler.getPsi());
Dcm &dcm = *this;
float cosPhi = cosf(euler.getPhi());
float sinPhi = sinf(euler.getPhi());
float cosThe = cosf(euler.getTheta());
float sinThe = sinf(euler.getTheta());
float cosPsi = cosf(euler.getPsi());
float sinPsi = sinf(euler.getPsi());
dcm(0,0) = cosThe*cosPsi;
dcm(0,1) = -cosPhi*sinPsi + sinPhi*sinThe*cosPsi;
dcm(0,2) = sinPhi*sinPsi + cosPhi*sinThe*cosPsi;
dcm(0, 0) = cosThe * cosPsi;
dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
dcm(1,0) = cosThe*sinPsi;
dcm(1,1) = cosPhi*cosPsi + sinPhi*sinThe*sinPsi;
dcm(1,2) = -sinPhi*cosPsi + cosPhi*sinThe*sinPsi;
dcm(1, 0) = cosThe * sinPsi;
dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
dcm(2,0) = -sinThe;
dcm(2,1) = sinPhi*cosThe;
dcm(2,2) = cosPhi*cosThe;
dcm(2, 0) = -sinThe;
dcm(2, 1) = sinPhi * cosThe;
dcm(2, 2) = cosPhi * cosThe;
}
Dcm::Dcm(const Dcm & right) :
Matrix(right)
Dcm::Dcm(const Dcm &right) :
Matrix(right)
{
}
@@ -115,22 +115,22 @@ Dcm::~Dcm()
int __EXPORT dcmTest()
{
printf("Test DCM\t\t: ");
Vector3 vB(1,2,3);
ASSERT(matrixEqual(Dcm(Quaternion(1,0,0,0)),
Matrix::identity(3)));
ASSERT(matrixEqual(Dcm(EulerAngles(0,0,0)),
Matrix::identity(3)));
ASSERT(vectorEqual(Vector3(-2,1,3),
Dcm(EulerAngles(0,0,M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3,2,-1),
Dcm(EulerAngles(0,M_PI_2_F,0))*vB));
ASSERT(vectorEqual(Vector3(1,-3,2),
Dcm(EulerAngles(M_PI_2_F,0,0))*vB));
ASSERT(vectorEqual(Vector3(3,2,-1),
Dcm(EulerAngles(
M_PI_2_F,M_PI_2_F,M_PI_2_F))*vB));
printf("PASS\n");
return 0;
printf("Test DCM\t\t: ");
Vector3 vB(1, 2, 3);
ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)),
Matrix::identity(3)));
ASSERT(matrixEqual(Dcm(EulerAngles(0, 0, 0)),
Matrix::identity(3)));
ASSERT(vectorEqual(Vector3(-2, 1, 3),
Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
ASSERT(vectorEqual(Vector3(1, -3, 2),
Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
Dcm(EulerAngles(
M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
printf("PASS\n");
return 0;
}
} // namespace math
apps/systemlib/math/Dcm.hpp
+26 -25
View File
@@ -42,7 +42,8 @@
#include "Vector.hpp"
#include "Matrix.hpp"
namespace math {
namespace math
{
class Quaternion;
class EulerAngles;
@@ -58,35 +59,35 @@ class EulerAngles;
class __EXPORT Dcm : public Matrix
{
public:
/**
* default ctor
*/
Dcm();
/**
* default ctor
*/
Dcm();
/**
* data ctor
*/
Dcm(const float * data);
/**
* data ctor
*/
Dcm(const float *data);
/**
* quaternion ctor
*/
Dcm(const Quaternion & q);
/**
* quaternion ctor
*/
Dcm(const Quaternion &q);
/**
* euler angles ctor
*/
Dcm(const EulerAngles & euler);
/**
* euler angles ctor
*/
Dcm(const EulerAngles &euler);
/**
* copy ctor (deep)
*/
Dcm(const Dcm & right);
/**
* copy ctor (deep)
*/
Dcm(const Dcm &right);
/**
* dtor
*/
virtual ~Dcm();
/**
* dtor
*/
virtual ~Dcm();
};
int __EXPORT dcmTest();
apps/systemlib/math/EulerAngles.cpp
+46 -48
View File
@@ -48,48 +48,46 @@ namespace math
{
EulerAngles::EulerAngles() :
Vector(3)
Vector(3)
{
setPhi(0.0f);
setTheta(0.0f);
setPsi(0.0f);
setPhi(0.0f);
setTheta(0.0f);
setPsi(0.0f);
}
EulerAngles::EulerAngles(float phi, float theta, float psi) :
Vector(3)
Vector(3)
{
setPhi(phi);
setTheta(theta);
setPsi(psi);
setPhi(phi);
setTheta(theta);
setPsi(psi);
}
EulerAngles::EulerAngles(const Quaternion & q) :
Vector(3)
EulerAngles::EulerAngles(const Quaternion &q) :
Vector(3)
{
(*this) = EulerAngles(Dcm(q));
(*this) = EulerAngles(Dcm(q));
}
EulerAngles::EulerAngles(const Dcm & dcm) :
Vector(3)
EulerAngles::EulerAngles(const Dcm &dcm) :
Vector(3)
{
setTheta(asinf(-dcm(2,0)));
if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f)
{
setPhi(0.0f);
setPsi(atan2f(dcm(1,2) - dcm(0,1),
dcm(0,2) + dcm(1,1)) + getPhi());
}
else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f)
{
setPhi(0.0f);
setPsi(atan2f(dcm(1,2) - dcm(0,1),
dcm(0,2) + dcm(1,1)) - getPhi());
}
else
{
setPhi(atan2f(dcm(2,1),dcm(2,2)));
setPsi(atan2f(dcm(1,0),dcm(0,0)));
}
setTheta(asinf(-dcm(2, 0)));
if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
setPhi(0.0f);
setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1)) + getPhi());
} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
setPhi(0.0f);
setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1)) - getPhi());
} else {
setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
}
}
EulerAngles::~EulerAngles()
@@ -98,27 +96,27 @@ EulerAngles::~EulerAngles()
int __EXPORT eulerAnglesTest()
{
printf("Test EulerAngles\t: ");
EulerAngles euler(1,2,3);
printf("Test EulerAngles\t: ");
EulerAngles euler(1, 2, 3);
// test ctor
ASSERT(vectorEqual(Vector3(1,2,3),euler));
ASSERT(equal(euler.getPhi(),1));
ASSERT(equal(euler.getTheta(),2));
ASSERT(equal(euler.getPsi(),3));
// test ctor
ASSERT(vectorEqual(Vector3(1, 2, 3), euler));
ASSERT(equal(euler.getPhi(), 1));
ASSERT(equal(euler.getTheta(), 2));
ASSERT(equal(euler.getPsi(), 3));
// test dcm ctor
// test dcm ctor
// test assignment
euler.setPhi(4);
ASSERT(equal(euler.getPhi(),4));
euler.setTheta(5);
ASSERT(equal(euler.getTheta(),5));
euler.setPsi(6);
ASSERT(equal(euler.getPsi(),6));
// test assignment
euler.setPhi(4);
ASSERT(equal(euler.getPhi(), 4));
euler.setTheta(5);
ASSERT(equal(euler.getTheta(), 5));
euler.setPsi(6);
ASSERT(equal(euler.getPsi(), 6));
printf("PASS\n");
return 0;
printf("PASS\n");
return 0;
}
} // namespace math
apps/systemlib/math/EulerAngles.hpp
+15 -14
View File
@@ -41,7 +41,8 @@
#include "Vector.hpp"
namespace math {
namespace math
{
class Quaternion;
class Dcm;
@@ -49,21 +50,21 @@ class Dcm;
class __EXPORT EulerAngles : public Vector
{
public:
EulerAngles();
EulerAngles(float phi, float theta, float psi);
EulerAngles(const Quaternion & q);
EulerAngles(const Dcm & dcm);
virtual ~EulerAngles();
EulerAngles();
EulerAngles(float phi, float theta, float psi);
EulerAngles(const Quaternion &q);
EulerAngles(const Dcm &dcm);
virtual ~EulerAngles();
// alias
void setPhi(float phi) { (*this)(0) = phi; }
void setTheta(float theta) { (*this)(1) = theta; }
void setPsi(float psi) { (*this)(2) = psi; }
// alias
void setPhi(float phi) { (*this)(0) = phi; }
void setTheta(float theta) { (*this)(1) = theta; }
void setPsi(float psi) { (*this)(2) = psi; }
// const accessors
const float & getPhi() const { return (*this)(0); }
const float & getTheta() const { return (*this)(1); }
const float & getPsi() const { return (*this)(2); }
// const accessors
const float &getPhi() const { return (*this)(0); }
const float &getTheta() const { return (*this)(1); }
const float &getPsi() const { return (*this)(2); }
};
apps/systemlib/math/Matrix.cpp
+112 -99
View File
@@ -45,136 +45,149 @@
namespace math
{
static const float data_testA[] =
{1,2,3,
4,5,6};
static Matrix testA(2,3,data_testA);
static const float data_testA[] = {
1, 2, 3,
4, 5, 6
};
static Matrix testA(2, 3, data_testA);
static const float data_testB[] =
{0,1,3,
7,-1,2};
static Matrix testB(2,3,data_testB);
static const float data_testB[] = {
0, 1, 3,
7, -1, 2
};
static Matrix testB(2, 3, data_testB);
static const float data_testC[] =
{0,1,
2,1,
3,2};
static Matrix testC(3,2,data_testC);
static const float data_testC[] = {
0, 1,
2, 1,
3, 2
};
static Matrix testC(3, 2, data_testC);
static const float data_testD[] =
{0,1,2,
2,1,4,
5,2,0};
static Matrix testD(3,3,data_testD);
static const float data_testD[] = {
0, 1, 2,
2, 1, 4,
5, 2, 0
};
static Matrix testD(3, 3, data_testD);
static const float data_testE[] =
{1,-1,2,
0,2,3,
2,-1,1};
static Matrix testE(3,3,data_testE);
static const float data_testE[] = {
1, -1, 2,
0, 2, 3,
2, -1, 1
};
static Matrix testE(3, 3, data_testE);
static const float data_testF[] =
{3.777e006f, 2.915e007f, 0.000e000f,
2.938e007f, 2.267e008f, 0.000e000f,
0.000e000f, 0.000e000f, 6.033e008f};
static Matrix testF(3,3,data_testF);
static const float data_testF[] = {
3.777e006f, 2.915e007f, 0.000e000f,
2.938e007f, 2.267e008f, 0.000e000f,
0.000e000f, 0.000e000f, 6.033e008f
};
static Matrix testF(3, 3, data_testF);
int __EXPORT matrixTest()
{
matrixAddTest();
matrixSubTest();
matrixMultTest();
matrixInvTest();
matrixDivTest();
return 0;
matrixAddTest();
matrixSubTest();
matrixMultTest();
matrixInvTest();
matrixDivTest();
return 0;
}
int matrixAddTest()
{
printf("Test Matrix Add\t\t: ");
Matrix r = testA + testB;
float data_test[] =
{ 1.0f, 3.0f, 6.0f,
11.0f, 4.0f, 8.0f};
ASSERT(matrixEqual(Matrix(2,3,data_test),r));
printf("PASS\n");
return 0;
printf("Test Matrix Add\t\t: ");
Matrix r = testA + testB;
float data_test[] = {
1.0f, 3.0f, 6.0f,
11.0f, 4.0f, 8.0f
};
ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
printf("PASS\n");
return 0;
}
int matrixSubTest()
{
printf("Test Matrix Sub\t\t: ");
Matrix r = testA - testB;
float data_test[] =
{ 1.0f, 1.0f, 0.0f,
-3.0f, 6.0f, 4.0f};
ASSERT(matrixEqual(Matrix(2,3,data_test),r));
printf("PASS\n");
return 0;
printf("Test Matrix Sub\t\t: ");
Matrix r = testA - testB;
float data_test[] = {
1.0f, 1.0f, 0.0f,
-3.0f, 6.0f, 4.0f
};
ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
printf("PASS\n");
return 0;
}
int matrixMultTest()
{
printf("Test Matrix Mult\t: ");
Matrix r = testC * testB;
float data_test[] =
{ 7.0f, -1.0f, 2.0f,
7.0f, 1.0f, 8.0f,
14.0f, 1.0f, 13.0f};
ASSERT(matrixEqual(Matrix(3,3,data_test),r));
printf("PASS\n");
return 0;
printf("Test Matrix Mult\t: ");
Matrix r = testC * testB;
float data_test[] = {
7.0f, -1.0f, 2.0f,
7.0f, 1.0f, 8.0f,
14.0f, 1.0f, 13.0f
};
ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
printf("PASS\n");
return 0;
}
int matrixInvTest()
{
printf("Test Matrix Inv\t\t: ");
Matrix origF = testF;
Matrix r = testF.inverse();
float data_test[] =
{ -0.0012518f, 0.0001610f, 0.0000000f,
0.0001622f, -0.0000209f, 0.0000000f,
0.0000000f, 0.0000000f, 1.6580e-9f};
ASSERT(matrixEqual(Matrix(3,3,data_test),r));
// make sure F in unchanged
ASSERT(matrixEqual(origF,testF));
printf("PASS\n");
return 0;
printf("Test Matrix Inv\t\t: ");
Matrix origF = testF;
Matrix r = testF.inverse();
float data_test[] = {
-0.0012518f, 0.0001610f, 0.0000000f,
0.0001622f, -0.0000209f, 0.0000000f,
0.0000000f, 0.0000000f, 1.6580e-9f
};
ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
// make sure F in unchanged
ASSERT(matrixEqual(origF, testF));
printf("PASS\n");
return 0;
}
int matrixDivTest()
{
printf("Test Matrix Div\t\t: ");
Matrix r = testD / testE;
float data_test[] = {
0.2222222f, 0.5555556f, -0.1111111f,
0.0f, 1.0f, 1.0,
-4.1111111f, 1.2222222f, 4.5555556f};
ASSERT(matrixEqual(Matrix(3,3,data_test),r));
printf("PASS\n");
return 0;
printf("Test Matrix Div\t\t: ");
Matrix r = testD / testE;
float data_test[] = {
0.2222222f, 0.5555556f, -0.1111111f,
0.0f, 1.0f, 1.0,
-4.1111111f, 1.2222222f, 4.5555556f
};
ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
printf("PASS\n");
return 0;
}
bool matrixEqual(const Matrix & a, const Matrix & b, float eps)
bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
{
if (a.getRows() != b.getRows()) {
printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
return false;
} else if (a.getCols() != b.getCols()) {
printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
return false;
}
bool ret = true;
for (size_t i=0;i<a.getRows();i++)
for (size_t j =0;j<a.getCols();j++)
{
if (!equal(a(i,j),b(i,j),eps))
{
printf("element mismatch (%d, %d)\n", i, j);
ret = false;
}
}
return ret;
if (a.getRows() != b.getRows()) {
printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
return false;
} else if (a.getCols() != b.getCols()) {
printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
return false;
}
bool ret = true;
for (size_t i = 0; i < a.getRows(); i++)
for (size_t j = 0; j < a.getCols(); j++) {
if (!equal(a(i, j), b(i, j), eps)) {
printf("element mismatch (%d, %d)\n", i, j);
ret = false;
}
}
return ret;
}
} // namespace math
apps/systemlib/math/Matrix.hpp
+3 -2
View File
@@ -45,7 +45,8 @@
#include "generic/Matrix.hpp"
#endif
namespace math {
namespace math
{
class Matrix;
int matrixTest();
int matrixAddTest();
@@ -54,5 +55,5 @@ int matrixMultTest();
int matrixInvTest();
int matrixDivTest();
int matrixArmTest();
bool matrixEqual(const Matrix & a, const Matrix & b, float eps=1.0e-5f);
bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f);
} // namespace math
apps/systemlib/math/Quaternion.cpp
+95 -94
View File
@@ -48,68 +48,68 @@ namespace math
{
Quaternion::Quaternion() :
Vector(4)
Vector(4)
{
setA(1.0f);
setB(0.0f);
setC(0.0f);
setD(0.0f);
setA(1.0f);
setB(0.0f);
setC(0.0f);
setD(0.0f);
}
Quaternion::Quaternion(float a, float b,
float c, float d) :
Vector(4)
float c, float d) :
Vector(4)
{
setA(a);
setB(b);
setC(c);
setD(d);
setA(a);
setB(b);
setC(c);
setD(d);
}
Quaternion::Quaternion(const float * data) :
Vector(4,data)
Quaternion::Quaternion(const float *data) :
Vector(4, data)
{
}
Quaternion::Quaternion(const Vector & v) :
Vector(v)
Quaternion::Quaternion(const Vector &v) :
Vector(v)
{
}
Quaternion::Quaternion(const Dcm & dcm) :
Vector(4)
Quaternion::Quaternion(const Dcm &dcm) :
Vector(4)
{
setA(0.5f*sqrtf(1 + dcm(0,0) +
dcm(1,1) + dcm(2,2)));
setB((dcm(2,1) - dcm(1,2))/
(4*getA()));
setC((dcm(0,2) - dcm(2,0))/
(4*getA()));
setD((dcm(1,0) - dcm(0,1))/
(4*getA()));
setA(0.5f * sqrtf(1 + dcm(0, 0) +
dcm(1, 1) + dcm(2, 2)));
setB((dcm(2, 1) - dcm(1, 2)) /
(4 * getA()));
setC((dcm(0, 2) - dcm(2, 0)) /
(4 * getA()));
setD((dcm(1, 0) - dcm(0, 1)) /
(4 * getA()));
}
Quaternion::Quaternion(const EulerAngles & euler) :
Vector(4)
Quaternion::Quaternion(const EulerAngles &euler) :
Vector(4)
{
float cosPhi_2 = cosf(euler.getPhi()/2.0f);
float cosTheta_2 = cosf(euler.getTheta()/2.0f);
float cosPsi_2 = cosf(euler.getPsi()/2.0f);
float sinPhi_2 = sinf(euler.getPhi()/2.0f);
float sinTheta_2 = sinf(euler.getTheta()/2.0f);
float sinPsi_2 = sinf(euler.getPsi()/2.0f);
setA(cosPhi_2*cosTheta_2*cosPsi_2 +
sinPhi_2*sinTheta_2*sinPsi_2);
setB(sinPhi_2*cosTheta_2*cosPsi_2 -
cosPhi_2*sinTheta_2*sinPsi_2);
setC(cosPhi_2*sinTheta_2*cosPsi_2 +
sinPhi_2*cosTheta_2*sinPsi_2);
setD(cosPhi_2*cosTheta_2*sinPsi_2 +
sinPhi_2*sinTheta_2*cosPsi_2);
float cosPhi_2 = cosf(euler.getPhi() / 2.0f);
float cosTheta_2 = cosf(euler.getTheta() / 2.0f);
float cosPsi_2 = cosf(euler.getPsi() / 2.0f);
float sinPhi_2 = sinf(euler.getPhi() / 2.0f);
float sinTheta_2 = sinf(euler.getTheta() / 2.0f);
float sinPsi_2 = sinf(euler.getPsi() / 2.0f);
setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
sinPhi_2 * sinTheta_2 * sinPsi_2);
setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
cosPhi_2 * sinTheta_2 * sinPsi_2);
setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
sinPhi_2 * cosTheta_2 * sinPsi_2);
setD(cosPhi_2 * cosTheta_2 * sinPsi_2 +
sinPhi_2 * sinTheta_2 * cosPsi_2);
}
Quaternion::Quaternion(const Quaternion & right) :
Vector(right)
Quaternion::Quaternion(const Quaternion &right) :
Vector(right)
{
}
@@ -117,64 +117,65 @@ Quaternion::~Quaternion()
{
}
Vector Quaternion::derivative(const Vector & w)
Vector Quaternion::derivative(const Vector &w)
{
#ifdef QUATERNION_ASSERT
ASSERT(w.getRows()==3);
ASSERT(w.getRows() == 3);
#endif
float dataQ[] =
{getA(), -getB(), -getC(), -getD(),
getB(), getA(), -getD(), getC(),
getC(), getD(), getA(), -getB(),
getD(), -getC(), getB(), getA()};
Vector v(4);
v(0) = 0.0f;
v(1) = w(0);
v(2) = w(1);
v(3) = w(2);
Matrix Q(4,4,dataQ);
return Q*v*0.5f;
float dataQ[] = {
getA(), -getB(), -getC(), -getD(),
getB(), getA(), -getD(), getC(),
getC(), getD(), getA(), -getB(),
getD(), -getC(), getB(), getA()
};
Vector v(4);
v(0) = 0.0f;
v(1) = w(0);
v(2) = w(1);
v(3) = w(2);
Matrix Q(4, 4, dataQ);
return Q * v * 0.5f;
}
int __EXPORT quaternionTest()
{
printf("Test Quaternion\t\t: ");
// test default ctor
Quaternion q;
ASSERT(equal(q.getA(),1));
ASSERT(equal(q.getB(),0));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// test float ctor
q = Quaternion(0,1,0,0);
ASSERT(equal(q.getA(),0));
ASSERT(equal(q.getB(),1));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// test euler ctor
q = Quaternion(EulerAngles(0,0,0));
ASSERT(equal(q.getA(),1));
ASSERT(equal(q.getB(),0));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// test dcm ctor
q = Quaternion(Dcm());
ASSERT(equal(q.getA(),1));
ASSERT(equal(q.getB(),0));
ASSERT(equal(q.getC(),0));
ASSERT(equal(q.getD(),0));
// TODO test derivative
// test accessors
q.setA(0.1);
q.setB(0.2);
q.setC(0.3);
q.setD(0.4);
ASSERT(equal(q.getA(),0.1));
ASSERT(equal(q.getB(),0.2));
ASSERT(equal(q.getC(),0.3));
ASSERT(equal(q.getD(),0.4));
printf("PASS\n");
return 0;
printf("Test Quaternion\t\t: ");
// test default ctor
Quaternion q;
ASSERT(equal(q.getA(), 1));
ASSERT(equal(q.getB(), 0));
ASSERT(equal(q.getC(), 0));
ASSERT(equal(q.getD(), 0));
// test float ctor
q = Quaternion(0, 1, 0, 0);
ASSERT(equal(q.getA(), 0));
ASSERT(equal(q.getB(), 1));
ASSERT(equal(q.getC(), 0));
ASSERT(equal(q.getD(), 0));
// test euler ctor
q = Quaternion(EulerAngles(0, 0, 0));
ASSERT(equal(q.getA(), 1));
ASSERT(equal(q.getB(), 0));
ASSERT(equal(q.getC(), 0));
ASSERT(equal(q.getD(), 0));
// test dcm ctor
q = Quaternion(Dcm());
ASSERT(equal(q.getA(), 1));
ASSERT(equal(q.getB(), 0));
ASSERT(equal(q.getC(), 0));
ASSERT(equal(q.getD(), 0));
// TODO test derivative
// test accessors
q.setA(0.1);
q.setB(0.2);
q.setC(0.3);
q.setD(0.4);
ASSERT(equal(q.getA(), 0.1));
ASSERT(equal(q.getB(), 0.2));
ASSERT(equal(q.getC(), 0.3));
ASSERT(equal(q.getD(), 0.4));
printf("PASS\n");
return 0;
}
} // namespace math
apps/systemlib/math/Quaternion.hpp
+49 -48
View File
@@ -42,7 +42,8 @@
#include "Vector.hpp"
#include "Matrix.hpp"
namespace math {
namespace math
{
class Dcm;
class EulerAngles;
@@ -51,62 +52,62 @@ class __EXPORT Quaternion : public Vector
{
public:
/**
* default ctor
*/
Quaternion();
/**
* default ctor
*/
Quaternion();
/**
* ctor from floats
*/
Quaternion(float a, float b, float c, float d);
/**
* ctor from floats
*/
Quaternion(float a, float b, float c, float d);
/**
* ctor from data
*/
Quaternion(const float * data);
/**
* ctor from data
*/
Quaternion(const float *data);
/**
* ctor from Vector
*/
Quaternion(const Vector & v);
/**
* ctor from Vector
*/
Quaternion(const Vector &v);
/**
* ctor from EulerAngles
*/
Quaternion(const EulerAngles & euler);
/**
* ctor from EulerAngles
*/
Quaternion(const EulerAngles &euler);
/**
* ctor from Dcm
*/
Quaternion(const Dcm & dcm);
/**
* ctor from Dcm
*/
Quaternion(const Dcm &dcm);
/**
* deep copy ctor
*/
Quaternion(const Quaternion & right);
/**
* deep copy ctor
*/
Quaternion(const Quaternion &right);
/**
* dtor
*/
virtual ~Quaternion();
/**
* dtor
*/
virtual ~Quaternion();
/**
* derivative
*/
Vector derivative(const Vector & w);
/**
* derivative
*/
Vector derivative(const Vector &w);
/**
* accessors
*/
void setA(float a) { (*this)(0) = a; }
void setB(float b) { (*this)(1) = b; }
void setC(float c) { (*this)(2) = c; }
void setD(float d) { (*this)(3) = d; }
const float & getA() const { return (*this)(0); }
const float & getB() const { return (*this)(1); }
const float & getC() const { return (*this)(2); }
const float & getD() const { return (*this)(3); }
/**
* accessors
*/
void setA(float a) { (*this)(0) = a; }
void setB(float b) { (*this)(1) = b; }
void setC(float c) { (*this)(2) = c; }
void setD(float d) { (*this)(3) = d; }
const float &getA() const { return (*this)(0); }
const float &getB() const { return (*this)(1); }
const float &getC() const { return (*this)(2); }
const float &getD() const { return (*this)(3); }
};
int __EXPORT quaternionTest();
apps/systemlib/math/Vector.cpp
+36 -35
View File
@@ -44,56 +44,57 @@
namespace math
{
static const float data_testA[] = {1,3};
static const float data_testB[] = {4,1};
static const float data_testA[] = {1, 3};
static const float data_testB[] = {4, 1};
static Vector testA(2,data_testA);
static Vector testB(2,data_testB);
static Vector testA(2, data_testA);
static Vector testB(2, data_testB);
int __EXPORT vectorTest()
{
vectorAddTest();
vectorSubTest();
return 0;
vectorAddTest();
vectorSubTest();
return 0;
}
int vectorAddTest()
{
printf("Test Vector Add\t\t: ");
Vector r = testA + testB;
float data_test[] = {5.0f, 4.0f};
ASSERT(vectorEqual(Vector(2,data_test),r));
printf("PASS\n");
return 0;
printf("Test Vector Add\t\t: ");
Vector r = testA + testB;
float data_test[] = {5.0f, 4.0f};
ASSERT(vectorEqual(Vector(2, data_test), r));
printf("PASS\n");
return 0;
}
int vectorSubTest()
{
printf("Test Vector Sub\t\t: ");
Vector r(2);
r = testA - testB;
float data_test[] = {-3.0f, 2.0f};
ASSERT(vectorEqual(Vector(2,data_test),r));
printf("PASS\n");
return 0;
printf("Test Vector Sub\t\t: ");
Vector r(2);
r = testA - testB;
float data_test[] = { -3.0f, 2.0f};
ASSERT(vectorEqual(Vector(2, data_test), r));
printf("PASS\n");
return 0;
}
bool vectorEqual(const Vector & a, const Vector & b, float eps)
bool vectorEqual(const Vector &a, const Vector &b, float eps)
{
if (a.getRows() != b.getRows()) {
printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
return false;
}
bool ret = true;
for (size_t i=0;i<a.getRows();i++)
{
if (!equal(a(i),b(i),eps))
{
printf("element mismatch (%d)\n", i);
ret = false;
}
}
return ret;
if (a.getRows() != b.getRows()) {
printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
return false;
}
bool ret = true;
for (size_t i = 0; i < a.getRows(); i++) {
if (!equal(a(i), b(i), eps)) {
printf("element mismatch (%d)\n", i);
ret = false;
}
}
return ret;
}
} // namespace math
apps/systemlib/math/Vector.hpp
+3 -2
View File
@@ -45,10 +45,11 @@
#include "generic/Vector.hpp"
#endif
namespace math {
namespace math
{
class Vector;
int __EXPORT vectorTest();
int __EXPORT vectorAddTest();
int __EXPORT vectorSubTest();
bool vectorEqual(const Vector & a, const Vector & b, float eps=1.0e-5f);
bool vectorEqual(const Vector &a, const Vector &b, float eps = 1.0e-5f);
} // math
apps/systemlib/math/Vector3.cpp
+25 -25
View File
@@ -45,28 +45,28 @@ namespace math
{
Vector3::Vector3() :
Vector(3)
Vector(3)
{
}
Vector3::Vector3(const Vector & right) :
Vector(right)
Vector3::Vector3(const Vector &right) :
Vector(right)
{
#ifdef VECTOR_ASSERT
ASSERT(right.getRows()==3);
ASSERT(right.getRows() == 3);
#endif
}
Vector3::Vector3(float x, float y, float z) :
Vector(3)
Vector(3)
{
setX(x);
setY(y);
setZ(z);
setX(x);
setY(y);
setZ(z);
}
Vector3::Vector3(const float * data) :
Vector(3,data)
Vector3::Vector3(const float *data) :
Vector(3, data)
{
}
@@ -74,26 +74,26 @@ Vector3::~Vector3()
{
}
Vector3 Vector3::cross(const Vector3 & b)
Vector3 Vector3::cross(const Vector3 &b)
{
Vector3 & a = *this;
Vector3 result;
result(0) = a(1)*b(2) - a(2)*b(1);
result(1) = a(2)*b(0) - a(0)*b(2);
result(2) = a(0)*b(1) - a(1)*b(0);
return result;
Vector3 &a = *this;
Vector3 result;
result(0) = a(1) * b(2) - a(2) * b(1);
result(1) = a(2) * b(0) - a(0) * b(2);
result(2) = a(0) * b(1) - a(1) * b(0);
return result;
}
int __EXPORT vector3Test()
{
printf("Test Vector3\t\t: ");
// test float ctor
Vector3 v(1,2,3);
ASSERT(equal(v(0),1));
ASSERT(equal(v(1),2));
ASSERT(equal(v(2),3));
printf("PASS\n");
return 0;
printf("Test Vector3\t\t: ");
// test float ctor
Vector3 v(1, 2, 3);
ASSERT(equal(v(0), 1));
ASSERT(equal(v(1), 2));
ASSERT(equal(v(2), 3));
printf("PASS\n");
return 0;
}
} // namespace math
apps/systemlib/math/Vector3.hpp
+16 -16
View File
@@ -45,25 +45,25 @@ namespace math
{
class __EXPORT Vector3 :
public Vector
public Vector
{
public:
Vector3();
Vector3(const Vector & right);
Vector3(float x, float y, float z);
Vector3(const float * data);
virtual ~Vector3();
Vector3 cross(const Vector3 & b);
Vector3();
Vector3(const Vector &right);
Vector3(float x, float y, float z);
Vector3(const float *data);
virtual ~Vector3();
Vector3 cross(const Vector3 &b);
/**
* accessors
*/
void setX(float x) { (*this)(0) = x; }
void setY(float y) { (*this)(1) = y; }
void setZ(float z) { (*this)(2) = z; }
const float & getX() const { return (*this)(0); }
const float & getY() const { return (*this)(1); }
const float & getZ() const { return (*this)(2); }
/**
* accessors
*/
void setX(float x) { (*this)(0) = x; }
void setY(float y) { (*this)(1) = y; }
void setZ(float z) { (*this)(2) = z; }
const float &getX() const { return (*this)(0); }
const float &getY() const { return (*this)(1); }
const float &getZ() const { return (*this)(2); }
};
int __EXPORT vector3Test();
apps/systemlib/math/arm/Matrix.hpp
+210 -230
View File
@@ -56,257 +56,237 @@
namespace math
{
class __EXPORT Matrix {
class __EXPORT Matrix
{
public:
// constructor
Matrix(size_t rows, size_t cols) :
_matrix()
{
arm_mat_init_f32(&_matrix,
rows, cols,
(float*)calloc(rows*cols,sizeof(float)));
}
Matrix(size_t rows, size_t cols, const float * data) :
_matrix()
{
arm_mat_init_f32(&_matrix,
rows, cols,
(float*)malloc(rows*cols*sizeof(float)));
memcpy(getData(),data,getSize());
}
// deconstructor
virtual ~Matrix()
{
delete [] _matrix.pData;
}
// copy constructor (deep)
Matrix(const Matrix & right) :
_matrix()
{
arm_mat_init_f32(&_matrix,
right.getRows(), right.getCols(),
(float*)malloc(right.getRows()*
right.getCols()*sizeof(float)));
memcpy(getData(),right.getData(),
getSize());
}
// assignment
inline Matrix & operator=(const Matrix & right)
{
// constructor
Matrix(size_t rows, size_t cols) :
_matrix() {
arm_mat_init_f32(&_matrix,
rows, cols,
(float *)calloc(rows * cols, sizeof(float)));
}
Matrix(size_t rows, size_t cols, const float *data) :
_matrix() {
arm_mat_init_f32(&_matrix,
rows, cols,
(float *)malloc(rows * cols * sizeof(float)));
memcpy(getData(), data, getSize());
}
// deconstructor
virtual ~Matrix() {
delete [] _matrix.pData;
}
// copy constructor (deep)
Matrix(const Matrix &right) :
_matrix() {
arm_mat_init_f32(&_matrix,
right.getRows(), right.getCols(),
(float *)malloc(right.getRows()*
right.getCols()*sizeof(float)));
memcpy(getData(), right.getData(),
getSize());
}
// assignment
inline Matrix &operator=(const Matrix &right) {
#ifdef MATRIX_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getCols()==right.getCols());
ASSERT(getRows() == right.getRows());
ASSERT(getCols() == right.getCols());
#endif
if (this != &right)
{
memcpy(getData(),right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float & operator()(size_t i, size_t j)
{
if (this != &right) {
memcpy(getData(), right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float &operator()(size_t i, size_t j) {
#ifdef MATRIX_ASSERT
ASSERT(i<getRows());
ASSERT(j<getCols());
ASSERT(i < getRows());
ASSERT(j < getCols());
#endif
return getData()[i*getCols() + j];
}
inline const float & operator()(size_t i, size_t j) const
{
return getData()[i * getCols() + j];
}
inline const float &operator()(size_t i, size_t j) const {
#ifdef MATRIX_ASSERT
ASSERT(i<getRows());
ASSERT(j<getCols());
ASSERT(i < getRows());
ASSERT(j < getCols());
#endif
return getData()[i*getCols() + j];
}
// output
inline void print() const
{
for (size_t i=0; i<getRows(); i++)
{
for (size_t j=0; j<getCols(); j++)
{
float sig;
int exp;
float num = (*this)(i,j);
float2SigExp(num,sig,exp);
printf ("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
}
// boolean ops
inline bool operator==(const Matrix & right) const
{
for (size_t i=0; i<getRows(); i++)
{
for (size_t j=0; j<getCols(); j++)
{
if (fabsf((*this)(i,j)-right(i,j)) > 1e-30f)
return false;
}
}
return true;
}
// scalar ops
inline Matrix operator+(float right) const
{
Matrix result(getRows(), getCols());
arm_offset_f32((float *)getData(),right,
(float *)result.getData(),getRows()*getCols());
return result;
}
inline Matrix operator-(float right) const
{
Matrix result(getRows(), getCols());
arm_offset_f32((float *)getData(),-right,
(float *)result.getData(),getRows()*getCols());
return result;
}
inline Matrix operator*(float right) const
{
Matrix result(getRows(), getCols());
arm_mat_scale_f32(&_matrix,right,
&(result._matrix));
return result;
}
inline Matrix operator/(float right) const
{
Matrix result(getRows(), getCols());
arm_mat_scale_f32(&_matrix,1.0f/right,
&(result._matrix));
return result;
}
// vector ops
inline Vector operator*(const Vector & right) const
{
return getData()[i * getCols() + j];
}
// output
inline void print() const {
for (size_t i = 0; i < getRows(); i++) {
for (size_t j = 0; j < getCols(); j++) {
float sig;
int exp;
float num = (*this)(i, j);
float2SigExp(num, sig, exp);
printf("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
}
// boolean ops
inline bool operator==(const Matrix &right) const {
for (size_t i = 0; i < getRows(); i++) {
for (size_t j = 0; j < getCols(); j++) {
if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
return false;
}
}
return true;
}
// scalar ops
inline Matrix operator+(float right) const {
Matrix result(getRows(), getCols());
arm_offset_f32((float *)getData(), right,
(float *)result.getData(), getRows()*getCols());
return result;
}
inline Matrix operator-(float right) const {
Matrix result(getRows(), getCols());
arm_offset_f32((float *)getData(), -right,
(float *)result.getData(), getRows()*getCols());
return result;
}
inline Matrix operator*(float right) const {
Matrix result(getRows(), getCols());
arm_mat_scale_f32(&_matrix, right,
&(result._matrix));
return result;
}
inline Matrix operator/(float right) const {
Matrix result(getRows(), getCols());
arm_mat_scale_f32(&_matrix, 1.0f / right,
&(result._matrix));
return result;
}
// vector ops
inline Vector operator*(const Vector &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getCols()==right.getRows());
ASSERT(getCols() == right.getRows());
#endif
Matrix resultMat = (*this)*
Matrix(right.getRows(),1,right.getData());
return Vector(getRows(),resultMat.getData());
}
// matrix ops
inline Matrix operator+(const Matrix & right) const
{
Matrix resultMat = (*this) *
Matrix(right.getRows(), 1, right.getData());
return Vector(getRows(), resultMat.getData());
}
// matrix ops
inline Matrix operator+(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getCols()==right.getCols());
ASSERT(getRows() == right.getRows());
ASSERT(getCols() == right.getCols());
#endif
Matrix result(getRows(), getCols());
arm_mat_add_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator-(const Matrix & right) const
{
Matrix result(getRows(), getCols());
arm_mat_add_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator-(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getCols()==right.getCols());
ASSERT(getRows() == right.getRows());
ASSERT(getCols() == right.getCols());
#endif
Matrix result(getRows(), getCols());
arm_mat_sub_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator*(const Matrix & right) const
{
Matrix result(getRows(), getCols());
arm_mat_sub_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator*(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getCols()==right.getRows());
ASSERT(getCols() == right.getRows());
#endif
Matrix result(getRows(), right.getCols());
arm_mat_mult_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator/(const Matrix & right) const
{
Matrix result(getRows(), right.getCols());
arm_mat_mult_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator/(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(right.getRows()==right.getCols());
ASSERT(getCols()==right.getCols());
ASSERT(right.getRows() == right.getCols());
ASSERT(getCols() == right.getCols());
#endif
return (*this)*right.inverse();
}
// other functions
inline Matrix transpose() const
{
Matrix result(getCols(),getRows());
arm_mat_trans_f32(&_matrix, &(result._matrix));
return result;
}
inline void swapRows(size_t a, size_t b)
{
if (a==b) return;
for(size_t j=0;j<getCols();j++) {
float tmp = (*this)(a,j);
(*this)(a,j) = (*this)(b,j);
(*this)(b,j) = tmp;
}
}
inline void swapCols(size_t a, size_t b)
{
if (a==b) return;
for(size_t i=0;i<getRows();i++) {
float tmp = (*this)(i,a);
(*this)(i,a) = (*this)(i,b);
(*this)(i,b) = tmp;
}
}
/**
* inverse based on LU factorization with partial pivotting
*/
Matrix inverse() const
{
return (*this) * right.inverse();
}
// other functions
inline Matrix transpose() const {
Matrix result(getCols(), getRows());
arm_mat_trans_f32(&_matrix, &(result._matrix));
return result;
}
inline void swapRows(size_t a, size_t b) {
if (a == b) return;
for (size_t j = 0; j < getCols(); j++) {
float tmp = (*this)(a, j);
(*this)(a, j) = (*this)(b, j);
(*this)(b, j) = tmp;
}
}
inline void swapCols(size_t a, size_t b) {
if (a == b) return;
for (size_t i = 0; i < getRows(); i++) {
float tmp = (*this)(i, a);
(*this)(i, a) = (*this)(i, b);
(*this)(i, b) = tmp;
}
}
/**
* inverse based on LU factorization with partial pivotting
*/
Matrix inverse() const {
#ifdef MATRIX_ASSERT
ASSERT(getRows()==getCols());
ASSERT(getRows() == getCols());
#endif
Matrix result(getRows(), getCols());
Matrix work = (*this);
arm_mat_inverse_f32(&(work._matrix),
&(result._matrix));
return result;
}
inline void setAll(const float & val)
{
for (size_t i=0;i<getRows();i++) {
for (size_t j=0;j<getCols();j++) {
(*this)(i,j) = val;
}
}
}
inline void set(const float * data)
{
memcpy(getData(),data,getSize());
}
inline size_t getRows() const { return _matrix.numRows; }
inline size_t getCols() const { return _matrix.numCols; }
inline static Matrix identity(size_t size) {
Matrix result(size,size);
for (size_t i=0; i<size; i++) {
result(i,i) = 1.0f;
}
return result;
}
inline static Matrix zero(size_t size) {
Matrix result(size,size);
result.setAll(0.0f);
return result;
}
inline static Matrix zero(size_t m, size_t n) {
Matrix result(m,n);
result.setAll(0.0f);
return result;
}
Matrix result(getRows(), getCols());
Matrix work = (*this);
arm_mat_inverse_f32(&(work._matrix),
&(result._matrix));
return result;
}
inline void setAll(const float &val) {
for (size_t i = 0; i < getRows(); i++) {
for (size_t j = 0; j < getCols(); j++) {
(*this)(i, j) = val;
}
}
}
inline void set(const float *data) {
memcpy(getData(), data, getSize());
}
inline size_t getRows() const { return _matrix.numRows; }
inline size_t getCols() const { return _matrix.numCols; }
inline static Matrix identity(size_t size) {
Matrix result(size, size);
for (size_t i = 0; i < size; i++) {
result(i, i) = 1.0f;
}
return result;
}
inline static Matrix zero(size_t size) {
Matrix result(size, size);
result.setAll(0.0f);
return result;
}
inline static Matrix zero(size_t m, size_t n) {
Matrix result(m, n);
result.setAll(0.0f);
return result;
}
protected:
inline size_t getSize() const { return sizeof(float)*getRows()*getCols(); }
inline float * getData() { return _matrix.pData; }
inline const float * getData() const { return _matrix.pData; }
inline void setData(float * data) { _matrix.pData = data; }
inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
inline float *getData() { return _matrix.pData; }
inline const float *getData() const { return _matrix.pData; }
inline void setData(float *data) { _matrix.pData = data; }
private:
arm_matrix_instance_f32 _matrix;
arm_matrix_instance_f32 _matrix;
};
} // namespace math
apps/systemlib/math/arm/Vector.hpp
+147 -167
View File
@@ -55,186 +55,166 @@
namespace math
{
class __EXPORT Vector {
class __EXPORT Vector
{
public:
// constructor
Vector(size_t rows) :
_rows(rows),
_data((float*)calloc(rows,sizeof(float)))
{
}
Vector(size_t rows, const float * data) :
_rows(rows),
_data((float*)malloc(getSize()))
{
memcpy(getData(),data,getSize());
}
// deconstructor
virtual ~Vector()
{
delete [] getData();
}
// copy constructor (deep)
Vector(const Vector & right) :
_rows(right.getRows()),
_data((float*)malloc(getSize()))
{
memcpy(getData(),right.getData(),
right.getSize());
}
// assignment
inline Vector & operator=(const Vector & right)
{
// constructor
Vector(size_t rows) :
_rows(rows),
_data((float *)calloc(rows, sizeof(float))) {
}
Vector(size_t rows, const float *data) :
_rows(rows),
_data((float *)malloc(getSize())) {
memcpy(getData(), data, getSize());
}
// deconstructor
virtual ~Vector() {
delete [] getData();
}
// copy constructor (deep)
Vector(const Vector &right) :
_rows(right.getRows()),
_data((float *)malloc(getSize())) {
memcpy(getData(), right.getData(),
right.getSize());
}
// assignment
inline Vector &operator=(const Vector &right) {
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getRows() == right.getRows());
#endif
if (this != &right)
{
memcpy(getData(),right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float& operator()(size_t i)
{
if (this != &right) {
memcpy(getData(), right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float &operator()(size_t i) {
#ifdef VECTOR_ASSERT
ASSERT(i<getRows());
ASSERT(i < getRows());
#endif
return getData()[i];
}
inline const float& operator()(size_t i) const
{
return getData()[i];
}
inline const float &operator()(size_t i) const {
#ifdef VECTOR_ASSERT
ASSERT(i<getRows());
ASSERT(i < getRows());
#endif
return getData()[i];
}
// output
inline void print() const
{
for (size_t i=0; i<getRows(); i++)
{
float sig;
int exp;
float num = (*this)(i);
float2SigExp(num,sig,exp);
printf ("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
// boolean ops
inline bool operator==(const Vector & right) const
{
for (size_t i=0; i<getRows(); i++)
{
if (fabsf(((*this)(i) - right(i))) > 1e-30f)
return false;
}
return true;
}
// scalar ops
inline Vector operator+(float right) const
{
Vector result(getRows());
arm_offset_f32((float*)getData(),
right, result.getData(),
getRows());
return result;
}
inline Vector operator-(float right) const
{
Vector result(getRows());
arm_offset_f32((float*)getData(),
-right, result.getData(),
getRows());
return result;
}
inline Vector operator*(float right) const
{
Vector result(getRows());
arm_scale_f32((float*)getData(),
right, result.getData(),
getRows());
return result;
}
inline Vector operator/(float right) const
{
Vector result(getRows());
arm_scale_f32((float*)getData(),
1.0f/right, result.getData(),
getRows());
return result;
}
// vector ops
inline Vector operator+(const Vector & right) const
{
return getData()[i];
}
// output
inline void print() const {
for (size_t i = 0; i < getRows(); i++) {
float sig;
int exp;
float num = (*this)(i);
float2SigExp(num, sig, exp);
printf("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
// boolean ops
inline bool operator==(const Vector &right) const {
for (size_t i = 0; i < getRows(); i++) {
if (fabsf(((*this)(i) - right(i))) > 1e-30f)
return false;
}
return true;
}
// scalar ops
inline Vector operator+(float right) const {
Vector result(getRows());
arm_offset_f32((float *)getData(),
right, result.getData(),
getRows());
return result;
}
inline Vector operator-(float right) const {
Vector result(getRows());
arm_offset_f32((float *)getData(),
-right, result.getData(),
getRows());
return result;
}
inline Vector operator*(float right) const {
Vector result(getRows());
arm_scale_f32((float *)getData(),
right, result.getData(),
getRows());
return result;
}
inline Vector operator/(float right) const {
Vector result(getRows());
arm_scale_f32((float *)getData(),
1.0f / right, result.getData(),
getRows());
return result;
}
// vector ops
inline Vector operator+(const Vector &right) const {
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getRows() == right.getRows());
#endif
Vector result(getRows());
arm_add_f32((float*)getData(),
(float*)right.getData(),
result.getData(),
getRows());
return result;
}
inline Vector operator-(const Vector & right) const
{
Vector result(getRows());
arm_add_f32((float *)getData(),
(float *)right.getData(),
result.getData(),
getRows());
return result;
}
inline Vector operator-(const Vector &right) const {
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getRows() == right.getRows());
#endif
Vector result(getRows());
arm_sub_f32((float*)getData(),
(float*)right.getData(),
result.getData(),
getRows());
return result;
}
// other functions
inline float dot(const Vector & right)
{
float result = 0;
arm_dot_prod_f32((float*)getData(),
(float*)right.getData(),
getRows(),
&result);
return result;
}
inline float norm()
{
return sqrtf(dot(*this));
}
inline Vector unit()
{
return (*this)/norm();
}
inline static Vector zero(size_t rows)
{
Vector result(rows);
// calloc returns zeroed memory
return result;
}
inline void setAll(const float & val)
{
for (size_t i=0;i<getRows();i++)
{
(*this)(i) = val;
}
}
inline void set(const float * data)
{
memcpy(getData(),data,getSize());
}
inline size_t getRows() const { return _rows; }
inline const float * getData() const { return _data; }
Vector result(getRows());
arm_sub_f32((float *)getData(),
(float *)right.getData(),
result.getData(),
getRows());
return result;
}
// other functions
inline float dot(const Vector &right) {
float result = 0;
arm_dot_prod_f32((float *)getData(),
(float *)right.getData(),
getRows(),
&result);
return result;
}
inline float norm() {
return sqrtf(dot(*this));
}
inline Vector unit() {
return (*this) / norm();
}
inline static Vector zero(size_t rows) {
Vector result(rows);
// calloc returns zeroed memory
return result;
}
inline void setAll(const float &val) {
for (size_t i = 0; i < getRows(); i++) {
(*this)(i) = val;
}
}
inline void set(const float *data) {
memcpy(getData(), data, getSize());
}
inline size_t getRows() const { return _rows; }
inline const float *getData() const { return _data; }
protected:
inline size_t getSize() const { return sizeof(float)*getRows(); }
inline float * getData() { return _data; }
inline void setData(float * data) { _data = data; }
inline size_t getSize() const { return sizeof(float) * getRows(); }
inline float *getData() { return _data; }
inline void setData(float *data) { _data = data; }
private:
size_t _rows;
float * _data;
size_t _rows;
float *_data;
};
} // math
apps/systemlib/math/generic/Matrix.hpp
+365 -375
View File
File diff suppressed because it is too large Load Diff
apps/systemlib/math/generic/Vector.hpp
+158 -171
View File
@@ -51,190 +51,177 @@
namespace math
{
class __EXPORT Vector {
class __EXPORT Vector
{
public:
// constructor
Vector(size_t rows) :
_rows(rows),
_data((float*)calloc(rows,sizeof(float)))
{
}
Vector(size_t rows, const float * data) :
_rows(rows),
_data((float*)malloc(getSize()))
{
memcpy(getData(),data,getSize());
}
// deconstructor
virtual ~Vector()
{
delete [] getData();
}
// copy constructor (deep)
Vector(const Vector & right) :
_rows(right.getRows()),
_data((float*)malloc(getSize()))
{
memcpy(getData(),right.getData(),
right.getSize());
}
// assignment
inline Vector & operator=(const Vector & right)
{
// constructor
Vector(size_t rows) :
_rows(rows),
_data((float *)calloc(rows, sizeof(float))) {
}
Vector(size_t rows, const float *data) :
_rows(rows),
_data((float *)malloc(getSize())) {
memcpy(getData(), data, getSize());
}
// deconstructor
virtual ~Vector() {
delete [] getData();
}
// copy constructor (deep)
Vector(const Vector &right) :
_rows(right.getRows()),
_data((float *)malloc(getSize())) {
memcpy(getData(), right.getData(),
right.getSize());
}
// assignment
inline Vector &operator=(const Vector &right) {
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getRows() == right.getRows());
#endif
if (this != &right)
{
memcpy(getData(),right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float& operator()(size_t i)
{
if (this != &right) {
memcpy(getData(), right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float &operator()(size_t i) {
#ifdef VECTOR_ASSERT
ASSERT(i<getRows());
ASSERT(i < getRows());
#endif
return getData()[i];
}
inline const float& operator()(size_t i) const
{
return getData()[i];
}
inline const float &operator()(size_t i) const {
#ifdef VECTOR_ASSERT
ASSERT(i<getRows());
ASSERT(i < getRows());
#endif
return getData()[i];
}
// output
inline void print() const
{
for (size_t i=0; i<getRows(); i++)
{
float sig;
int exp;
float num = (*this)(i);
float2SigExp(num,sig,exp);
printf ("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
// boolean ops
inline bool operator==(const Vector & right) const
{
for (size_t i=0; i<getRows(); i++)
{
if (fabsf(((*this)(i) - right(i))) > 1e-30f)
return false;
}
return true;
}
// scalar ops
inline Vector operator+(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) + right;
}
return result;
}
inline Vector operator-(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) - right;
}
return result;
}
inline Vector operator*(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) * right;
}
return result;
}
inline Vector operator/(const float & right) const
{
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) / right;
}
return result;
}
// vector ops
inline Vector operator+(const Vector & right) const
{
return getData()[i];
}
// output
inline void print() const {
for (size_t i = 0; i < getRows(); i++) {
float sig;
int exp;
float num = (*this)(i);
float2SigExp(num, sig, exp);
printf("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
// boolean ops
inline bool operator==(const Vector &right) const {
for (size_t i = 0; i < getRows(); i++) {
if (fabsf(((*this)(i) - right(i))) > 1e-30f)
return false;
}
return true;
}
// scalar ops
inline Vector operator+(const float &right) const {
Vector result(getRows());
for (size_t i = 0; i < getRows(); i++) {
result(i) = (*this)(i) + right;
}
return result;
}
inline Vector operator-(const float &right) const {
Vector result(getRows());
for (size_t i = 0; i < getRows(); i++) {
result(i) = (*this)(i) - right;
}
return result;
}
inline Vector operator*(const float &right) const {
Vector result(getRows());
for (size_t i = 0; i < getRows(); i++) {
result(i) = (*this)(i) * right;
}
return result;
}
inline Vector operator/(const float &right) const {
Vector result(getRows());
for (size_t i = 0; i < getRows(); i++) {
result(i) = (*this)(i) / right;
}
return result;
}
// vector ops
inline Vector operator+(const Vector &right) const {
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getRows() == right.getRows());
#endif
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) + right(i);
}
return result;
}
inline Vector operator-(const Vector & right) const
{
Vector result(getRows());
for (size_t i = 0; i < getRows(); i++) {
result(i) = (*this)(i) + right(i);
}
return result;
}
inline Vector operator-(const Vector &right) const {
#ifdef VECTOR_ASSERT
ASSERT(getRows()==right.getRows());
ASSERT(getRows() == right.getRows());
#endif
Vector result(getRows());
for (size_t i=0; i<getRows(); i++)
{
result(i) = (*this)(i) - right(i);
}
return result;
}
// other functions
inline float dot(const Vector & right)
{
float result = 0;
for (size_t i=0; i<getRows(); i++)
{
result += (*this)(i)*(*this)(i);
}
return result;
}
inline float norm()
{
return sqrtf(dot(*this));
}
inline Vector unit()
{
return (*this)/norm();
}
inline static Vector zero(size_t rows)
{
Vector result(rows);
// calloc returns zeroed memory
return result;
}
inline void setAll(const float & val)
{
for (size_t i=0;i<getRows();i++)
{
(*this)(i) = val;
}
}
inline void set(const float * data)
{
memcpy(getData(),data,getSize());
}
inline size_t getRows() const { return _rows; }
Vector result(getRows());
for (size_t i = 0; i < getRows(); i++) {
result(i) = (*this)(i) - right(i);
}
return result;
}
// other functions
inline float dot(const Vector &right) {
float result = 0;
for (size_t i = 0; i < getRows(); i++) {
result += (*this)(i) * (*this)(i);
}
return result;
}
inline float norm() {
return sqrtf(dot(*this));
}
inline Vector unit() {
return (*this) / norm();
}
inline static Vector zero(size_t rows) {
Vector result(rows);
// calloc returns zeroed memory
return result;
}
inline void setAll(const float &val) {
for (size_t i = 0; i < getRows(); i++) {
(*this)(i) = val;
}
}
inline void set(const float *data) {
memcpy(getData(), data, getSize());
}
inline size_t getRows() const { return _rows; }
protected:
inline size_t getSize() const { return sizeof(float)*getRows(); }
inline float * getData() { return _data; }
inline const float * getData() const { return _data; }
inline void setData(float * data) { _data = data; }
inline size_t getSize() const { return sizeof(float) * getRows(); }
inline float *getData() { return _data; }
inline const float *getData() const { return _data; }
inline void setData(float *data) { _data = data; }
private:
size_t _rows;
float * _data;
size_t _rows;
float *_data;
};
} // math
apps/systemlib/test/test.cpp
+40 -35
View File
@@ -44,45 +44,50 @@
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;
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)
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;
}
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;
}
}
apps/systemlib/test/test.hpp
+3 -3
View File
@@ -45,6 +45,6 @@
bool equal(float a, float b, float eps = 1e-5);
void float2SigExp(
const float & num,
float & sig,
int & exp);
const float &num,
float &sig,
int &exp);