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Finished documentation for pprz_algebra. There are still many notes in it, which can be easily removed in the headfile (command: mynote)

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Martin Dieblich
2010-09-21 15:13:36 +00:00
parent 424a77c29b
commit 6e86a18f70
14 changed files with 98 additions and 11 deletions
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doc/pprz_algebra/vector.tex
+15 -2
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@@ -11,7 +11,8 @@ uint16\_t & & Uint16Vect3 \\
int16\_t & & Int16Vect3 \\
int32\_t & Int32Vect2 & Int32Vect3 \\
int64\_t & Int32Vect2 & Int32Vect3 \\
float & FloatVect2 & FloatVect3
float & FloatVect2 & FloatVect3 \\
double & DoubleVect2 & DoubleVect3
\end{tabular}
@@ -67,6 +68,7 @@ float & FloatVect2 & FloatVect3
\inHfile{VECT3\_SUM(c, a, b)}{pprz\_algebra}
\inHfile{INT32\_VECT3\_SUM(c, a, b)}{pprz\_algebra\_int}
\inHfile{FLOAT\_VECT2\_SUM(c, a, b)}{pprz\_algebra\_float}
\inHfile{DOUBLE\_VECT3\_SUM(c, a, b)}{pprz\_algebra\_double}
@@ -130,6 +132,7 @@ Also known as the ``Dot-Multiplication'' from MATLAB, Octave or FreeMat.
\end{pmatrix} \multiplication \begin{pmatrix}x_2\\y_2\\z_2\end{pmatrix}
\end{equation}
\inHfile{FLOAT\_VECT3\_CROSS\_PRODUCT(vo, v1, v2)}{pprz\_algebra\_float}
\inHfile{DOUBLE\_VECT3\_CROSS\_PRODUCT(vo, v1, v2)}{pprz\_algebra\_double}
\subsubsection*{$\vect v_{out} = \mat{A} \multiplication \vect v_{in}$ With a Matrix}
\begin{equation}
@@ -138,10 +141,12 @@ Also known as the ``Dot-Multiplication'' from MATLAB, Octave or FreeMat.
\inHfile{MAT33\_VECT3\_MUL(vout, mat, vin)}{pprz\_algebra}
\inHfile{RMAT\_VECT3\_MUL(vout, rmat, vin)}{pprz\_algebra}
\inHfile{FLOAT\_RMAT\_VECT3\_MUL(vout, rmat, vin)}{pprz\_algebra\_float}
\inHfile{DOUBLE\_MAT33\_VECT3\_MUL(vout, mat, vin)}{pprz\_algebra\_double}
\begin{equation}
\vect v_{out} = \transp{\mat A} \multiplication \vect v_{in}
\end{equation}
\inHfile{MAT33\_VECT3\_TRANSP\_MUL(vout, mat, vin)}{pprz\_algebra}
\inHfile{DOUBLE\_MAT33\_VECT3\_TRANSP\_MUL(vout, mat, vin)}{pprz\_algebra\_double}
For rotational matrices, with additional right shift about the decimal point position:
\begin{equation}
\vect v_b = \mat M_{a2b} \multiplication \vect v_a
@@ -176,6 +181,7 @@ The quaternion is transformed to a rotational matrix and then the vector is mult
\multiplication \vect v_{in}
\end{equation}
\inHfile{INT32\_QUAT\_VMULT(v\_out, q, v\_in)}{pprz\_algebra\_int}
\inHfile{FLOAT\_QUAT\_VMULT(v\_out, q, v\_in)}{pprz\_algebra\_float}
@@ -248,4 +254,11 @@ Ensures that
\vect v_{min} \leq \vect v \leq \vect v_{max} \Leftrightarrow \begin{pmatrix} x_{min} \\ y_{min} \\ z_{min} \end{pmatrix} \leq \begin{pmatrix} x \\ y \\ z \end{pmatrix} \leq \begin{pmatrix} x_{max} \\ y_{max} \\ z_{max} \end{pmatrix}
\end{equation}
\inHfile{VECT3\_BOUND\_BOX(v, v\_min, v\_max}{pprz\_algebra}
\mynote{Nothing for VECT2?}
\mynote{Nothing for VECT2?}
\subsubsection*{Rounding}
Rounds the values of a double vector to integer values.
\begin{equation}
\vect v_{out} = rint(\vect v_{in})
\end{equation}
\inHfile{DOUBLE\_VECT3\_RINT(vout, vin)}{pprz\_algebra\_double}