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| 2189 | - | 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 | // Assorted useful math operations for ArduPilot(Mega) |
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| 6 | //#include <AP_Common.h> |
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| 7 | #include <stdint.h> |
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| 8 | //#include "rotations.h" |
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| 9 | //#include "vector2.h" |
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| 10 | #include "Vector3.h" |
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| 11 | #include "Matrix3.h" |
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| 12 | //#include "quaternion.h" |
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| 13 | //#include "polygon.h" |
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| 14 | |||
| 15 | // define AP_Param types AP_Vector3f and Ap_Matrix3f |
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| 16 | // AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F); |
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| 17 | // AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F); |
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| 18 | |||
| 19 | // a varient of asin() that always gives a valid answer. |
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| 20 | float safe_asin(float v); |
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| 21 | |||
| 22 | // a varient of sqrt() that always gives a valid answer. |
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| 23 | float safe_sqrt(float v); |
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| 24 | |||
| 25 | // find a rotation that is the combination of two other |
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| 26 | // rotations. This is used to allow us to add an overall board |
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| 27 | // rotation to an existing rotation of a sensor such as the compass |
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| 28 | // enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL); |
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| 29 | |||
| 30 | #endif |