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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#ifndef AP_MATH_H
#define AP_MATH_H
// Assorted useful math operations for ArduPilot(Mega)
//#include <AP_Common.h>
#include <stdint.h>
//#include "rotations.h"
//#include "vector2.h"
#include "Vector3.h"
#include "Matrix3.h"
//#include "quaternion.h"
//#include "polygon.h"
// define AP_Param types AP_Vector3f and Ap_Matrix3f
// AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
// AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
// a varient of asin() that always gives a valid answer.
float safe_asin(float v);
// a varient of sqrt() that always gives a valid answer.
float safe_sqrt(float v);
// find a rotation that is the combination of two other
// rotations. This is used to allow us to add an overall board
// rotation to an existing rotation of a sensor such as the compass
// enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL);
#endif