0,0 → 1,30 |
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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#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" |
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// define AP_Param types AP_Vector3f and Ap_Matrix3f |
// AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F); |
// AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F); |
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// a varient of asin() that always gives a valid answer. |
float safe_asin(float v); |
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// a varient of sqrt() that always gives a valid answer. |
float safe_sqrt(float v); |
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// 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); |
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#endif |