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[math] remove ALGEBRA_x_USE_SLOW_FUNCTIONS

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This commit is contained in:
Felix Ruess
2013-08-20 18:51:57 +02:00
parent 6a145a3cbd
commit 53d1c1907b
2 changed files with 1 additions and 121 deletions
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sw/airborne/math/pprz_algebra_float.h
-59
View File
@@ -381,37 +381,6 @@ struct FloatRates {
/* C n->b rotation matrix */
#ifdef ALGEBRA_FLOAT_USE_SLOW_FUNCTIONS
#define FLOAT_RMAT_OF_QUAT(_rm, _q) { \
const float qx2 = (_q).qx*(_q).qx; \
const float qy2 = (_q).qy*(_q).qy; \
const float qz2 = (_q).qz*(_q).qz; \
const float qiqx = (_q).qi*(_q).qx; \
const float qiqy = (_q).qi*(_q).qy; \
const float qiqz = (_q).qi*(_q).qz; \
const float qxqy = (_q).qx*(_q).qy; \
const float qxqz = (_q).qx*(_q).qz; \
const float qyqz = (_q).qy*(_q).qz; \
/* dcm00 = 1.0 - 2.*( qy2 + qz2 ); */ \
RMAT_ELMT(_rm, 0, 0) = 1. - 2.*( qy2 + qz2 ); \
/* dcm01 = 2.*( qxqy + qiqz ); */ \
RMAT_ELMT(_rm, 0, 1) = 2.*( qxqy + qiqz ); \
/* dcm02 = 2.*( qxqz - qiqy ); */ \
RMAT_ELMT(_rm, 0, 2) = 2.*( qxqz - qiqy ); \
/* dcm10 = 2.*( qxqy - qiqz ); */ \
RMAT_ELMT(_rm, 1, 0) = 2.*( qxqy - qiqz ); \
/* dcm11 = 1.0 - 2.*(qx2+qz2); */ \
RMAT_ELMT(_rm, 1, 1) = 1.0 - 2.*(qx2+qz2); \
/* dcm12 = 2.*( qyqz + qiqx ); */ \
RMAT_ELMT(_rm, 1, 2) = 2.*( qyqz + qiqx ); \
/* dcm20 = 2.*( qxqz + qiqy ); */ \
RMAT_ELMT(_rm, 2, 0) = 2.*( qxqz + qiqy ); \
/* dcm21 = 2.*( qyqz - qiqx ); */ \
RMAT_ELMT(_rm, 2, 1) = 2.*( qyqz - qiqx ); \
/* dcm22 = 1.0 - 2.*( qx2 + qy2 ); */ \
RMAT_ELMT(_rm, 2, 2) = 1.0 - 2.*( qx2 + qy2 ); \
}
#else
#define FLOAT_RMAT_OF_QUAT(_rm, _q) { \
const float _a = M_SQRT2*(_q).qi; \
const float _b = M_SQRT2*(_q).qx; \
@@ -434,7 +403,6 @@ struct FloatRates {
RMAT_ELMT(_rm, 2, 1) = cd-ab; \
RMAT_ELMT(_rm, 2, 2) = a2_1+_d*_d; \
}
#endif
/* in place first order integration of a rotation matrix */
#define FLOAT_RMAT_INTEGRATE_FI(_rm, _omega, _dt ) { \
@@ -605,32 +573,6 @@ static inline float float_rmat_reorthogonalize(struct FloatRMat* rm) {
} \
}
#ifdef ALGEBRA_FLOAT_USE_SLOW_FUNCTIONS
#define FLOAT_QUAT_VMULT(v_out, q, v_in) { \
const float qi2 = (q).qi*(q).qi; \
const float qiqx = (q).qi*(q).qx; \
const float qiqy = (q).qi*(q).qy; \
const float qiqz = (q).qi*(q).qz; \
const float qx2 = (q).qx*(q).qx; \
const float qxqy = (q).qx*(q).qy; \
const float qxqz = (q).qx*(q).qz; \
const float qy2 = (q).qy*(q).qy; \
const float qyqz = (q).qy*(q).qz; \
const float qz2 = (q).qz*(q).qz; \
const float m00 = qi2 + qx2 - qy2 - qz2; \
const float m01 = 2 * ( qxqy + qiqz ); \
const float m02 = 2 * ( qxqz - qiqy ); \
const float m10 = 2 * ( qxqy - qiqz ); \
const float m11 = qi2 - qx2 + qy2 - qz2; \
const float m12 = 2 * ( qyqz + qiqx ); \
const float m20 = 2 * ( qxqz + qiqy ); \
const float m21 = 2 * ( qyqz - qiqx ); \
const float m22 = qi2 - qx2 - qy2 + qz2; \
(v_out).x = m00 * (v_in).x + m01 * (v_in).y + m02 * (v_in).z; \
(v_out).y = m10 * (v_in).x + m11 * (v_in).y + m12 * (v_in).z; \
(v_out).z = m20 * (v_in).x + m21 * (v_in).y + m22 * (v_in).z; \
}
#else
#define FLOAT_QUAT_VMULT(v_out, q, v_in) { \
const float qi2_M1_2 = (q).qi*(q).qi - 0.5; \
const float qiqx = (q).qi*(q).qx; \
@@ -653,7 +595,6 @@ static inline float float_rmat_reorthogonalize(struct FloatRMat* rm) {
(v_out).y = 2*(m10 * (v_in).x + m11 * (v_in).y + m12 * (v_in).z); \
(v_out).z = 2*(m20 * (v_in).x + m21 * (v_in).y + m22 * (v_in).z); \
}
#endif
/* _qd = -0.5*omega(_r) * _q */
#define FLOAT_QUAT_DERIVATIVE(_qd, _r, _q) { \
sw/airborne/math/pprz_algebra_int.h
+1 -62
View File
@@ -381,40 +381,7 @@ struct Int64Vect3 {
/*
* http://www.mathworks.com/access/helpdesk_r13/help/toolbox/aeroblks/quaternionstodirectioncosinematrix.html
*/
#ifdef ALGEBRA_INT_USE_SLOW_FUNCTIONS
#define INT32_RMAT_OF_QUAT(_rm, _q) { \
const int32_t qx2 = INT_MULT_RSHIFT((_q).qx,(_q).qx, INT32_QUAT_FRAC); \
const int32_t qy2 = INT_MULT_RSHIFT((_q).qy,(_q).qy, INT32_QUAT_FRAC); \
const int32_t qz2 = INT_MULT_RSHIFT((_q).qz,(_q).qz, INT32_QUAT_FRAC); \
const int32_t qiqx = INT_MULT_RSHIFT((_q).qi,(_q).qx, INT32_QUAT_FRAC); \
const int32_t qiqy = INT_MULT_RSHIFT((_q).qi,(_q).qy, INT32_QUAT_FRAC); \
const int32_t qiqz = INT_MULT_RSHIFT((_q).qi,(_q).qz, INT32_QUAT_FRAC); \
const int32_t qxqy = INT_MULT_RSHIFT((_q).qx,(_q).qy, INT32_QUAT_FRAC); \
const int32_t qxqz = INT_MULT_RSHIFT((_q).qx,(_q).qz, INT32_QUAT_FRAC); \
const int32_t qyqz = INT_MULT_RSHIFT((_q).qy,(_q).qz, INT32_QUAT_FRAC); \
const int32_t one = TRIG_BFP_OF_REAL( 1); \
const int32_t two = TRIG_BFP_OF_REAL( 2); \
/* dcm00 = 1.0 - 2.*( qy2 + qz2 ); */ \
(_rm).m[0] = one - INT_MULT_RSHIFT( two, (qy2+qz2), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm01 = 2.*( qxqy + qiqz ); */ \
(_rm).m[1] = INT_MULT_RSHIFT( two, (qxqy+qiqz), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm02 = 2.*( qxqz - qiqy ); */ \
(_rm).m[2] = INT_MULT_RSHIFT( two, (qxqz-qiqy), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm10 = 2.*( qxqy - qiqz ); */ \
(_rm).m[3] = INT_MULT_RSHIFT( two, (qxqy-qiqz), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm11 = 1.0 - 2.*(qx2+qz2); */ \
(_rm).m[4] = one - INT_MULT_RSHIFT( two, (qx2+qz2), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm12 = 2.*( qyqz + qiqx ); */ \
(_rm).m[5] = INT_MULT_RSHIFT( two, (qyqz+qiqx), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm20 = 2.*( qxqz + qiqy ); */ \
(_rm).m[6] = INT_MULT_RSHIFT( two, (qxqz+qiqy), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm21 = 2.*( qyqz - qiqx ); */ \
(_rm).m[7] = INT_MULT_RSHIFT( two, (qyqz-qiqx), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
/* dcm22 = 1.0 - 2.*( qx2 + qy2 ); */ \
(_rm).m[8] = one - INT_MULT_RSHIFT( two, (qx2+qy2), INT32_TRIG_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC); \
}
#else
#define INT32_RMAT_OF_QUAT(_rm, _q) { \
#define INT32_RMAT_OF_QUAT(_rm, _q) { \
const int32_t _2qi2_m1 = INT_MULT_RSHIFT((_q).qi,(_q).qi, INT32_QUAT_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC-1)-TRIG_BFP_OF_REAL( 1); \
(_rm).m[0] = INT_MULT_RSHIFT((_q).qx,(_q).qx, INT32_QUAT_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC-1); \
(_rm).m[4] = INT_MULT_RSHIFT((_q).qy,(_q).qy, INT32_QUAT_FRAC+INT32_QUAT_FRAC-INT32_TRIG_FRAC-1); \
@@ -437,7 +404,6 @@ struct Int64Vect3 {
(_rm).m[5] += _2qiqx; \
(_rm).m[8] += _2qi2_m1; \
}
#endif
/*
@@ -643,32 +609,6 @@ struct Int64Vect3 {
}
#ifdef ALGEBRA_INT_USE_SLOW_FUNCTIONS
#define INT32_QUAT_VMULT(v_out, q, v_in) { \
const int32_t qi2 = ((q).qi*(q).qi)>>INT32_QUAT_FRAC; \
const int32_t qx2 = ((q).qx*(q).qx)>>INT32_QUAT_FRAC; \
const int32_t qy2 = ((q).qy*(q).qy)>>INT32_QUAT_FRAC; \
const int32_t qz2 = ((q).qz*(q).qz)>>INT32_QUAT_FRAC; \
const int32_t qiqx = ((q).qi*(q).qx)>>INT32_QUAT_FRAC; \
const int32_t qiqy = ((q).qi*(q).qy)>>INT32_QUAT_FRAC; \
const int32_t qiqz = ((q).qi*(q).qz)>>INT32_QUAT_FRAC; \
const int32_t qxqy = ((q).qx*(q).qy)>>INT32_QUAT_FRAC; \
const int32_t qxqz = ((q).qx*(q).qz)>>INT32_QUAT_FRAC; \
const int32_t qyqz = ((q).qy*(q).qz)>>INT32_QUAT_FRAC; \
const int32_t m00 = qi2 + qx2 - qy2 - qz2; \
const int32_t m01 = 2 * (qxqy + qiqz ); \
const int32_t m02 = 2 * (qxqz - qiqy ); \
const int32_t m10 = 2 * (qxqy - qiqz ); \
const int32_t m11 = qi2 - qx2 + qy2 - qz2; \
const int32_t m12 = 2 * (qyqz + qiqx ); \
const int32_t m20 = 2 * (qxqz + qiqy ); \
const int32_t m21 = 2 * (qyqz - qiqx ); \
const int32_t m22 = qi2 - qx2 - qy2 + qz2; \
(v_out).x = (m00 * (v_in).x + m01 * (v_in).y + m02 * (v_in).z)>>INT32_QUAT_FRAC; \
(v_out).y = (m10 * (v_in).x + m11 * (v_in).y + m12 * (v_in).z)>>INT32_QUAT_FRAC; \
(v_out).z = (m20 * (v_in).x + m21 * (v_in).y + m22 * (v_in).z)>>INT32_QUAT_FRAC; \
}
#else
#define INT32_QUAT_VMULT(v_out, q, v_in) { \
const int32_t _2qi2_m1 = (((q).qi*(q).qi)>>(INT32_QUAT_FRAC-1)) - QUAT1_BFP_OF_REAL( 1); \
const int32_t _2qx2 = ((q).qx*(q).qx)>>(INT32_QUAT_FRAC-1); \
@@ -684,7 +624,6 @@ struct Int64Vect3 {
(v_out).y = (_2qi2_m1*(v_in).y + m01 * (v_in).x -2*_2qiqz*(v_in).x + _2qy2 * (v_in).y + m12 * (v_in).z)>>INT32_QUAT_FRAC; \
(v_out).z = (_2qi2_m1*(v_in).z + m02 * (v_in).x +2*_2qiqy*(v_in).x+ m12 * (v_in).y -2*_2qiqx*(v_in).y+ _2qz2 * (v_in).z)>>INT32_QUAT_FRAC; \
}
#endif