Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-22 20:36:06 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

[python] improve algebra int wrapper

Browse Source
This commit is contained in:
Felix Ruess
2015-01-10 16:02:23 +01:00
parent f044d7d1f0
commit 056d102e55
1 changed files with 269 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/lib/python/pprz_math/pprz_algebra_int.i
+269
View File
@@ -5,4 +5,273 @@
#include "math/pprz_algebra_int.h"
%}
/* don't wrap everything in header
%include "math/pprz_algebra_int.h"
* instead only wrap the structs and extend them with nicer to use methods
*/
struct Int32Vect2 {
int32_t x;
int32_t y;
};
struct Int32Vect3 {
int32_t x;
int32_t y;
int32_t z;
};
struct Int32Quat {
int32_t qi;
int32_t qx;
int32_t qy;
int32_t qz;
};
struct Int32RMat {
int32_t m[3 * 3];
};
struct Int32Eulers {
int32_t phi; ///< in rad with #INT32_ANGLE_FRAC
int32_t theta; ///< in rad with #INT32_ANGLE_FRAC
int32_t psi; ///< in rad with #INT32_ANGLE_FRAC
};
extern uint32_t int32_sqrt(uint32_t in);
%extend Int32Vect2 {
char *__str__() {
static char tmp[1024];
sprintf(tmp,"Vect2(%d, %d)", $self->x ,$self->y);
return tmp;
}
Int32Vect2(int32_t x=0, int32_t y=0) {
struct Int32Vect2 *v = (struct Int32Vect2 *) malloc(sizeof(struct Int32Vect2));
v->x = x;
v->y = y;
return v;
}
struct Int32Vect2 __add__(struct Int32Vect2 *other) {
struct Int32Vect2 v;
v.x = $self->x + other->x;
v.y = $self->y + other->y;
return v;
}
struct Int32Vect2 __sub__(struct Int32Vect2 *other) {
struct Int32Vect2 v;
v.x = $self->x - other->x;
v.y = $self->y - other->y;
return v;
}
int32_t norm2() {
return int32_vect2_norm2($self);
}
int32_t norm() {
return int32_vect2_norm($self);
}
void normalize(uint8_t frac) {
int32_vect2_normalize($self, frac);
}
};
%extend Int32Vect3 {
char *__str__() {
static char tmp[1024];
sprintf(tmp,"Vect3(%d, %d, %d)", $self->x ,$self->y, $self->z);
return tmp;
}
Int32Vect3(int32_t x=0, int32_t y=0, int32_t z=0) {
struct Int32Vect3 *v = (struct Int32Vect3 *) malloc(sizeof(struct Int32Vect3));
v->x = x;
v->y = y;
v->z = z;
return v;
}
struct Int32Vect3 __add__(struct Int32Vect3 *other) {
struct Int32Vect3 v;
v.x = $self->x + other->x;
v.y = $self->y + other->y;
v.z = $self->z + other->z;
return v;
}
struct Int32Vect3 __sub__(struct Int32Vect3 *other) {
struct Int32Vect3 v;
v.x = $self->x - other->x;
v.y = $self->y - other->y;
v.z = $self->z - other->z;
return v;
}
struct Int32Vect3 __rmul__(struct Int32Quat *q) {
struct Int32Vect3 v;
int32_quat_vmult(&v, q, $self);
return v;
}
int32_t norm2() {
return VECT3_NORM2(*$self);
}
int32_t norm() {
return int32_sqrt(VECT3_NORM2(*$self));
}
void normalize(uint8_t frac) {
const int32_t n = int32_sqrt(VECT3_NORM2(*$self) >> frac);
if (n > 0) {
const int32_t f = BFP_OF_REAL((1.), frac);
$self->x = $self->x * f / (int32_t)n;
$self->y = $self->y * f / (int32_t)n;
$self->z = $self->z * f / (int32_t)n;
}
}
struct Int32Vect3 normalized(uint8_t frac) {
struct Int32Vect3 v;
const int32_t n = int32_sqrt(VECT3_NORM2(*$self) >> frac);
if (n > 0) {
const int32_t f = BFP_OF_REAL((1.), frac);
v.x = $self->x * f / (int32_t)n;
v.y = $self->y * f / (int32_t)n;
v.z = $self->z * f / (int32_t)n;
}
return v;
}
};
%extend Int32Quat {
char *__str__() {
static char tmp[1024];
sprintf(tmp,"Quat(%d, %d, %d, %d)", $self->qi, $self->qx ,$self->qy, $self->qz);
return tmp;
}
Int32Quat(int32_t qi=1.0, int32_t qx=0, int32_t qy=0, int32_t qz=0) {
struct Int32Quat *v = (struct Int32Quat *) malloc(sizeof(struct Int32Quat));
v->qi = qi;
v->qx = qx;
v->qy = qy;
v->qz = qz;
return v;
}
struct Int32Quat __mul__(struct Int32Quat *q) {
struct Int32Quat qout;
int32_quat_comp(&qout, $self, q);
return qout;
}
struct Int32Quat __mul__(struct Int32RMat *rm) {
struct Int32Quat q;
int32_quat_of_rmat(&q, rm);
struct Int32Quat qout;
int32_quat_comp(&qout, $self, &q);
return qout;
}
int32_t norm() {
return int32_quat_norm($self);
}
void normalize() {
int32_quat_normalize($self);
}
void set_identity() {
int32_quat_identity($self);
}
void wrap_shortest() {
int32_quat_wrap_shortest($self);
}
struct Int32Eulers to_eulers() {
struct Int32Eulers e;
int32_eulers_of_quat(&e, $self);
return e;
}
struct Int32RMat to_rmat() {
struct Int32RMat rm;
int32_rmat_of_quat(&rm, $self);
return rm;
}
};
%extend Int32RMat {
char *__str__() {
static char tmp[1024];
sprintf(tmp,"RMat[% d, % d, % d]\n [% d, % d, % d]\n [% d, % d, % d]",
$self->m[0], $self->m[1], $self->m[2], $self->m[3], $self->m[4],
$self->m[5], $self->m[6], $self->m[7], $self->m[8]);
return tmp;
}
Int32RMat() {
struct Int32RMat *rm = (struct Int32RMat *) malloc(sizeof(struct Int32RMat));
int32_rmat_identity(rm);
return rm;
}
struct Int32RMat __mul__(struct Int32RMat *m_b2c) {
struct Int32RMat m_a2c;
int32_rmat_comp(&m_a2c, $self, m_b2c);
return m_a2c;
}
struct Int32RMat __mul__(struct Int32Quat *q) {
struct Int32RMat m_b2c;
int32_rmat_of_quat(&m_b2c, q);
struct Int32RMat m_a2c;
int32_rmat_comp(&m_a2c, $self, &m_b2c);
return m_a2c;
}
struct Int32Vect3 __mul__(struct Int32Vect3 *va) {
struct Int32Vect3 v;
int32_rmat_vmult(&v, $self, va);
return v;
}
void set_identity() {
int32_rmat_identity($self);
}
/*
struct Int32RMat inverse() {
struct Int32RMat inv;
int32_rmat_inv(&inv, $self);
return inv;
}
struct Int32RMat transposed() {
struct Int32RMat inv;
int32_rmat_inv(&inv, $self);
return inv;
}
void invert() {
int32_rmat_inv($self, $self);
}
void transpose() {
int32_rmat_inv($self, $self);
}
*/
struct Int32Eulers to_eulers() {
struct Int32Eulers e;
int32_eulers_of_rmat(&e, $self);
return e;
}
struct Int32Quat to_quat() {
struct Int32Quat q;
int32_quat_of_rmat(&q, $self);
return q;
}
};
%extend Int32Eulers {
char *__str__() {
static char tmp[1024];
sprintf(tmp,"Eulers in deg (phi=%g, theta=%g, psi=%g)",
DegOfRad(DOUBLE_OF_BFP($self->phi, INT32_ANGLE_FRAC)),
DegOfRad(DOUBLE_OF_BFP($self->theta, INT32_ANGLE_FRAC)),
DegOfRad(DOUBLE_OF_BFP($self->psi, INT32_ANGLE_FRAC)));
return tmp;
}
Int32Eulers(int32_t phi=0, int32_t theta=0, int32_t psi=0) {
struct Int32Eulers *v = (struct Int32Eulers *) malloc(sizeof(struct Int32Eulers));
v->phi = phi;
v->theta = theta;
v->psi = psi;
return v;
}
struct Int32Quat to_quat() {
struct Int32Quat q;
int32_quat_of_eulers(&q, $self);
return q;
}
struct Int32RMat to_rmat() {
struct Int32RMat r;
int32_rmat_of_eulers(&r, $self);
return r;
}
};