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| Rev | Author | Line No. | Line |
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| 1702 | - | 1 | // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
| 2 | |||
| 3 | #ifndef AP_MATH_H |
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| 4 | #define AP_MATH_H |
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| 5 | |||
| 6 | // Assorted useful math operations for ArduPilot(Mega) |
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| 7 | |||
| 8 | #include <AP_Common.h> |
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| 9 | #include <stdint.h> |
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| 10 | #include "rotations.h" |
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| 11 | #include "vector2.h" |
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| 12 | #include "vector3.h" |
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| 13 | #include "matrix3.h" |
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| 14 | #include "quaternion.h" |
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| 15 | #include "polygon.h" |
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| 16 | |||
| 17 | // define AP_Param types AP_Vector3f and Ap_Matrix3f |
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| 18 | AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F); |
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| 19 | AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F); |
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| 20 | |||
| 21 | // a varient of asin() that always gives a valid answer. |
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| 22 | float safe_asin(float v); |
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| 23 | |||
| 24 | // a varient of sqrt() that always gives a valid answer. |
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| 25 | float safe_sqrt(float v); |
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| 26 | |||
| 27 | // find a rotation that is the combination of two other |
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| 28 | // rotations. This is used to allow us to add an overall board |
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| 29 | // rotation to an existing rotation of a sensor such as the compass |
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| 30 | enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL); |
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| 31 | |||
| 32 | #endif |