Namespaces
	typeFunction

Classes
class	AxisAngle
	AxisAngle class. More...

class	Dcm
	Direction cosine matrix class. More...

struct	Dual

class	Euler
	Euler angles class. More...

class	GeninvImpl
	Geninv implementation detail. More...

class	GeninvImpl< Type, M, N, 0 >

class	LeastSquaresSolver

class	Matrix

class	Quaternion
	Quaternion class. More...

class	Scalar

class	Slice

class	SquareMatrix

class	Vector

class	Vector2

class	Vector3

Typedefs
typedef AxisAngle< float >	AxisAnglef

typedef Dcm< float >	Dcmf

typedef Euler< float >	Eulerf

typedef Quaternion< float >	Quatf

typedef Quaternion< float >	Quaternionf

typedef Scalar< float >	Scalarf

typedef SquareMatrix< float, 3 >	SquareMatrix3f

typedef SquareMatrix< float, 3 >	Matrix3f

typedef Vector2< float >	Vector2f

typedef Vector3< float >	Vector3f

Functions
template<typename Scalar , size_t N>
Dual< Scalar, N >	operator+ (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator- (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator+ (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator- (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator+ (const Dual< Scalar, N > &a, Scalar b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator- (const Dual< Scalar, N > &a, Scalar b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator+ (Scalar a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator- (Scalar a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator* (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator* (const Dual< Scalar, N > &a, Scalar b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator* (Scalar a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator/ (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator/ (const Dual< Scalar, N > &a, Scalar b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	operator/ (Scalar a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	sqrt (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	abs (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	ceil (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	floor (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	fmod (const Dual< Scalar, N > &a, Scalar mod)

template<typename Scalar , size_t N>
Dual< Scalar, N >	max (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t N>
Dual< Scalar, N >	min (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar >
bool	IsNan (Scalar a)

template<typename Scalar , size_t N>
bool	IsNan (const Dual< Scalar, N > &a)

template<typename Scalar >
bool	IsFinite (Scalar a)

template<typename Scalar , size_t N>
bool	IsFinite (const Dual< Scalar, N > &a)

template<typename Scalar >
bool	IsInf (Scalar a)

template<typename Scalar , size_t N>
bool	IsInf (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	sin (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	cos (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	tan (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	asin (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	acos (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	atan (const Dual< Scalar, N > &a)

template<typename Scalar , size_t N>
Dual< Scalar, N >	atan2 (const Dual< Scalar, N > &a, const Dual< Scalar, N > &b)

template<typename Scalar , size_t M, size_t N>
Matrix< Scalar, M, N >	collectDerivatives (const Matrix< Dual< Scalar, N >, M, 1 > &input)

template<typename Scalar , size_t M, size_t N, size_t D>
Matrix< Scalar, M, N >	collectReals (const Matrix< Dual< Scalar, D >, M, N > &input)

template<typename Type , size_t M, size_t N>
int	kalman_correct (const Matrix< Type, M, M > &P, const Matrix< Type, N, M > &C, const Matrix< Type, N, N > &R, const Matrix< Type, N, 1 > &r, Matrix< Type, M, 1 > &dx, Matrix< Type, M, M > &dP, Type &beta)

template<typename Type >
bool	is_finite (Type x)

template<typename Type >
bool	isEqualF (const Type x, const Type y, const Type eps=1e-4f)
	Compare if two floating point numbers are equal. More...

template<typename Type >
Type	wrap (Type x, Type low, Type high)
	Wrap value to stay in range [low, high) More...

template<typename Type >
Type	wrap_pi (Type x)
	Wrap value in range [-π, π) More...

template<typename Type >
Type	wrap_2pi (Type x)
	Wrap value in range [0, 2π) More...

template<typename Type , size_t M, size_t N>
int	integrate_rk4 (Vector< Type, M >(*f)(Type, const Matrix< Type, M, 1 > &x, const Matrix< Type, N, 1 > &u), const Matrix< Type, M, 1 > &y0, const Matrix< Type, N, 1 > &u, Type t0, Type tf, Type h0, Matrix< Type, M, 1 > &y1)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	zeros ()

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	ones ()

template<size_t M, size_t N>
Matrix< float, M, N >	nans ()

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	operator* (Type scalar, const Matrix< Type, M, N > &other)

template<typename Type , size_t M, size_t N>
bool	isEqual (const Matrix< Type, M, N > &x, const Matrix< Type, M, N > &y, const Type eps=1e-4f)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	min (const Matrix< Type, M, N > &x, const Type scalar_upper_bound)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	min (const Type scalar_upper_bound, const Matrix< Type, M, N > &x)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	min (const Matrix< Type, M, N > &x1, const Matrix< Type, M, N > &x2)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	max (const Matrix< Type, M, N > &x, const Type scalar_lower_bound)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	max (const Type scalar_lower_bound, const Matrix< Type, M, N > &x)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	max (const Matrix< Type, M, N > &x1, const Matrix< Type, M, N > &x2)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	constrain (const Matrix< Type, M, N > &x, const Type scalar_lower_bound, const Type scalar_upper_bound)

template<typename Type , size_t M, size_t N>
Matrix< Type, M, N >	constrain (const Matrix< Type, M, N > &x, const Matrix< Type, M, N > &x_lower_bound, const Matrix< Type, M, N > &x_upper_bound)

template<typename Type , size_t N>
SquareMatrix< Type, N >	fullRankCholesky (const SquareMatrix< Type, N > &A, size_t &rank)
	Full rank Cholesky factorization of A. More...

template<typename Type , size_t M, size_t N>
Matrix< Type, N, M >	geninv (const Matrix< Type, M, N > &G)
	Geninv Fast pseudoinverse based on full rank cholesky factorisation. More...

template<typename Type >
void	fullRankCholeskyTolerance (Type &tol)
	Full rank Cholesky factorization of A. More...

template<>
void	fullRankCholeskyTolerance< double > (double &tol)

template<typename Type , size_t M>
SquareMatrix< Type, M >	eye ()

template<typename Type , size_t M>
SquareMatrix< Type, M >	diag (Vector< Type, M > d)

template<typename Type , size_t M>
SquareMatrix< Type, M >	expm (const Matrix< Type, M, M > &A, size_t order=5)

template<typename Type , size_t M>
bool	inv (const SquareMatrix< Type, M > &A, SquareMatrix< Type, M > &inv)
	inverse based on LU factorization with partial pivotting More...

template<typename Type , size_t M>
SquareMatrix< Type, M >	inv (const SquareMatrix< Type, M > &A)
	inverse based on LU factorization with partial pivotting More...

template<typename Type , size_t M>
SquareMatrix< Type, M >	cholesky (const SquareMatrix< Type, M > &A)
	cholesky decomposition More...

template<typename Type , size_t M>
SquareMatrix< Type, M >	choleskyInv (const SquareMatrix< Type, M > &A)
	cholesky inverse More...

Typedef Documentation

◆ AxisAnglef

typedef AxisAngle<float> matrix::AxisAnglef

Definition at line 160 of file AxisAngle.hpp.

◆ Dcmf

typedef Dcm<float> matrix::Dcmf

Definition at line 185 of file Dcm.hpp.

◆ Eulerf

typedef Euler<float> matrix::Eulerf

Definition at line 156 of file Euler.hpp.

◆ Matrix3f

typedef SquareMatrix<float, 3> matrix::Matrix3f

Definition at line 351 of file SquareMatrix.hpp.

◆ Quaternionf

typedef Quaternion<float> matrix::Quaternionf

Definition at line 545 of file Quaternion.hpp.

◆ Quatf

typedef Quaternion<float> matrix::Quatf

Definition at line 544 of file Quaternion.hpp.

◆ Scalarf

typedef Scalar<float> matrix::Scalarf

Definition at line 53 of file Scalar.hpp.

◆ SquareMatrix3f

typedef SquareMatrix<float, 3> matrix::SquareMatrix3f

Definition at line 123 of file SquareMatrix.hpp.

◆ Vector2f

typedef Vector2<float> matrix::Vector2f

Definition at line 69 of file Vector2.hpp.

◆ Vector3f

typedef Vector3<float> matrix::Vector3f

Definition at line 136 of file Vector3.hpp.

Function Documentation

◆ abs()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::abs ( const Dual< Scalar, N > & a )

Definition at line 196 of file Dual.hpp.

References matrix::Dual< Scalar, N >::value.

Referenced by CollisionPrevention::_adaptSetpointDirection(), build_gps_response(), QMC5883::collect(), HMC5883::collect(), RCTest::crsfTest(), RCTest::dsmTest(), float2SigExp(), MatrixTest::inverseTests(), main(), MixerTest::mixerTest(), BlockLocalPositionEstimator::predict(), MatrixTest::pseudoInverseTests(), Ekf::resetHeight(), LSM303AGR::self_test(), MatrixTest::squareMatrixTests(), TEST_F(), test_ppm_loopback(), test_rc(), and test_time().

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◆ acos()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::acos ( const Dual< Scalar, N > & a )

Definition at line 309 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, sqrt(), and matrix::Dual< Scalar, N >::value.

Referenced by matrix::AxisAngle< Type >::AxisAngle(), main(), map_projection_project(), and MicroBenchMath::MicroBenchMath::time_double_precision_float_trig().

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◆ asin()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::asin ( const Dual< Scalar, N > & a )

Definition at line 301 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, sqrt(), and matrix::Dual< Scalar, N >::value.

Referenced by matrix::Euler< Type >::Euler(), main(), map_projection_reproject(), MicroBenchMath::MicroBenchMath::time_double_precision_float_trig(), and waypoint_from_heading_and_distance().

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◆ atan()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::atan ( const Dual< Scalar, N > & a )

Definition at line 317 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by main().

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◆ atan2()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::atan2	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 325 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by FloatTest::doublePrecisionTests(), GPSHelper::ECEF2lla(), matrix::Euler< Type >::Euler(), get_distance_to_next_waypoint(), get_distance_to_point_global_wgs84(), main(), map_projection_reproject(), Sih::send_gps(), TEST_F(), MicroBenchMath::MicroBenchMath::time_double_precision_float_trig(), matrix::Quaternion< Type >::to_axis_angle(), and waypoint_from_heading_and_distance().

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◆ ceil()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::ceil ( const Dual< Scalar, N > & a )

Definition at line 203 of file Dual.hpp.

References matrix::Dual< Scalar, N >::value.

Referenced by CollisionPrevention::_addObstacleSensorData(), float2SigExp(), main(), and TEST_F().

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◆ cholesky()

template<typename Type , size_t M>

SquareMatrix<Type, M> matrix::cholesky ( const SquareMatrix< Type, M > & A )

cholesky decomposition

Note: A must be positive definite

Definition at line 306 of file SquareMatrix.hpp.

References sqrt().

Referenced by choleskyInv(), and main().

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◆ choleskyInv()

template<typename Type , size_t M>

SquareMatrix<Type, M> matrix::choleskyInv ( const SquareMatrix< Type, M > & A )

cholesky inverse

TODO: Check if gaussian elimination jumps straight to back-substitution for L or we need to do it manually. Will impact speed otherwise.

Definition at line 345 of file SquareMatrix.hpp.

References cholesky(), inv(), and matrix::Matrix< Type, M, M >::T().

Referenced by main().

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◆ collectDerivatives()

template<typename Scalar , size_t M, size_t N>

Matrix<Scalar, M, N> matrix::collectDerivatives ( const Matrix< Dual< Scalar, N >, M, 1 > & input )

Definition at line 334 of file Dual.hpp.

References matrix::Matrix< Type, M, N >::row().

Referenced by main().

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◆ collectReals()

template<typename Scalar , size_t M, size_t N, size_t D>

Matrix<Scalar, M, N> matrix::collectReals ( const Matrix< Dual< Scalar, D >, M, N > & input )

Definition at line 345 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by main().

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◆ constrain() [1/2]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::constrain	(	const Matrix< Type, M, N > &	x,
		const Type	scalar_lower_bound,
		const Type	scalar_upper_bound
	)

Definition at line 684 of file Matrix.hpp.

References matrix::typeFunction::constrain(), and matrix::Matrix< Type, M, N >::setNaN().

Referenced by main().

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◆ constrain() [2/2]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::constrain	(	const Matrix< Type, M, N > &	x,
		const Matrix< Type, M, N > &	x_lower_bound,
		const Matrix< Type, M, N > &	x_upper_bound
	)

Definition at line 701 of file Matrix.hpp.

References matrix::typeFunction::constrain().

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◆ cos()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::cos ( const Dual< Scalar, N > & a )

Definition at line 286 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, sin(), and matrix::Dual< Scalar, N >::value.

Referenced by add_vector_to_global_position(), matrix::Dcm< float >::Dcm(), GPSHelper::ECEF2lla(), matrix::Quaternion< Type >::from_axis_angle(), get_bearing_to_next_waypoint(), get_distance_to_arc(), get_distance_to_next_waypoint(), get_distance_to_point_global_wgs84(), get_vector_to_next_waypoint(), get_vector_to_next_waypoint_fast(), main(), map_projection_init_timestamped(), map_projection_project(), map_projection_reproject(), matrix::Quaternion< Type >::Quaternion(), sin(), MicroBenchMath::MicroBenchMath::time_double_precision_float_trig(), and waypoint_from_heading_and_distance().

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◆ diag()

template<typename Type , size_t M>

SquareMatrix<Type, M> matrix::diag ( Vector< Type, M > d )

Definition at line 133 of file SquareMatrix.hpp.

Referenced by main(), Sih::parameters_updated(), and MatrixTest::vectorAssignmentTests().

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◆ expm()

template<typename Type , size_t M>

SquareMatrix<Type, M> matrix::expm	(	const Matrix< Type, M, M > &	A,
		size_t	order = `5`
	)

Definition at line 142 of file SquareMatrix.hpp.

References matrix::Matrix< Type, M, M >::setIdentity().

Referenced by main(), and MatrixTest::squareMatrixTests().

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◆ eye()

template<typename Type , size_t M>

SquareMatrix<Type, M> matrix::eye ( )

Definition at line 126 of file SquareMatrix.hpp.

References matrix::Matrix< Type, M, M >::setIdentity().

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◆ floor()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::floor ( const Dual< Scalar, N > & a )

Definition at line 210 of file Dual.hpp.

References matrix::Dual< Scalar, N >::value.

Referenced by CollisionPrevention::_adaptSetpointDirection(), CollisionPrevention::_addDistanceSensorData(), CollisionPrevention::_calculateConstrainedSetpoint(), float2SigExp(), main(), TEST_F(), and wrap().

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◆ fmod()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::fmod	(	const Dual< Scalar, N > &	a,
		Scalar	mod
	)

Definition at line 217 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by main().

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◆ fullRankCholesky()

template<typename Type , size_t N>

SquareMatrix< Type, N > matrix::fullRankCholesky	(	const SquareMatrix< Type, N > &	A,
		size_t &	rank
	)

Full rank Cholesky factorization of A.

Definition at line 28 of file PseudoInverse.hpp.

Referenced by geninv().

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◆ fullRankCholeskyTolerance()

template<typename Type >

void matrix::fullRankCholeskyTolerance ( Type & tol )

Full rank Cholesky factorization of A.

Definition at line 16 of file PseudoInverse.hpp.

Referenced by main().

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◆ fullRankCholeskyTolerance< double >()

template<>

void matrix::fullRankCholeskyTolerance< double > ( double & tol )

inline

Definition at line 22 of file PseudoInverse.hpp.

◆ geninv()

template<typename Type , size_t M, size_t N>

Matrix<Type, N, M> matrix::geninv ( const Matrix< Type, M, N > & G )

Geninv Fast pseudoinverse based on full rank cholesky factorisation.

Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809

Definition at line 34 of file PseudoInverse.hpp.

References fullRankCholesky(), matrix::GeninvImpl< Type, M, N, R >::genInvOverdetermined(), matrix::GeninvImpl< Type, M, N, R >::genInvUnderdetermined(), and matrix::Matrix< Type, M, N >::transpose().

Referenced by main(), MatrixTest::pseudoInverseTests(), and MicroBenchMatrix::ut_declare_test_c().

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◆ integrate_rk4()

template<typename Type , size_t M, size_t N>

int matrix::integrate_rk4	(	Vector< Type, M >(*)(Type, const Matrix< Type, M, 1 > &x, const Matrix< Type, N, 1 > &u)	f,
		const Matrix< Type, M, 1 > &	y0,
		const Matrix< Type, N, 1 > &	u,
		Type	t0,
		Type	tf,
		Type	h0,
		Matrix< Type, M, 1 > &	y1
	)

Definition at line 8 of file integration.hpp.

References f(), and t1.

Referenced by MatrixTest::integrationTests(), and main().

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◆ inv() [1/2]

template<typename Type , size_t M>

bool matrix::inv	(	const SquareMatrix< Type, M > &	A,
		SquareMatrix< Type, M > &	inv
	)

inverse based on LU factorization with partial pivotting

Definition at line 162 of file SquareMatrix.hpp.

References f(), FLT_EPSILON, is_finite(), P, matrix::Matrix< Type, M, M >::setIdentity(), matrix::Matrix< Type, M, M >::swapCols(), and matrix::Matrix< Type, M, M >::swapRows().

Referenced by choleskyInv(), matrix::SquareMatrix< Type, 3 >::I(), inv(), inverse4x4(), MatrixTest::inverseTests(), main(), Sih::parameters_updated(), and MatrixTest::pseudoInverseTests().

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◆ inv() [2/2]

template<typename Type , size_t M>

SquareMatrix<Type, M> matrix::inv ( const SquareMatrix< Type, M > & A )

inverse based on LU factorization with partial pivotting

Definition at line 289 of file SquareMatrix.hpp.

References inv(), and matrix::Matrix< Type, M, M >::setZero().

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◆ is_finite()

template<typename Type >

bool matrix::is_finite ( Type x )

Definition at line 13 of file helper_functions.hpp.

Referenced by inv(), and main().

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◆ isEqual()

template<typename Type , size_t M, size_t N>

bool matrix::isEqual	(	const Matrix< Type, M, N > &	x,
		const Matrix< Type, M, N > &	y,
		const Type	eps = `1e-4f`
	)

Definition at line 571 of file Matrix.hpp.

References isEqualF().

Referenced by MatrixTest::filterTests(), MatrixTest::helperTests(), MatrixTest::integrationTests(), main(), MatrixTest::matrixAssignmentTests(), MatrixTest::matrixMultTests(), MatrixTest::matrixScalarMultTests(), matrix::Matrix< float, n_x, n_u >::operator==(), MatrixTest::run_tests(), MatrixTest::sliceTests(), MatrixTest::squareMatrixTests(), test_4x3(), test_4x4(), test_div_zero(), MatrixTest::transposeTests(), MatrixTest::vector3Tests(), and MatrixTest::vectorTests().

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◆ isEqualF()

template<typename Type >

bool matrix::isEqualF	(	const Type	x,
		const Type	y,
		const Type	eps = `1e-4f`
	)

Compare if two floating point numbers are equal.

NAN is considered equal to NAN and -NAN INFINITY is considered equal INFINITY but not -INFINITY

Parameters

x	right side of equality check
y	left side of equality check
eps	numerical tolerance of the check

Returns: true if the two values are considered equal, false otherwise

Definition at line 35 of file helper_functions.hpp.

Referenced by isEqual(), isEqualAll(), main(), and matrix::LeastSquaresSolver< Type, M, N >::solve().

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◆ IsFinite() [1/2]

template<typename Scalar >

bool matrix::IsFinite ( Scalar a )

Definition at line 251 of file Dual.hpp.

Referenced by IsFinite(), and main().

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◆ IsFinite() [2/2]

template<typename Scalar , size_t N>

bool matrix::IsFinite ( const Dual< Scalar, N > & a )

Definition at line 257 of file Dual.hpp.

References IsFinite(), and matrix::Dual< Scalar, N >::value.

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◆ IsInf() [1/2]

template<typename Scalar >

bool matrix::IsInf ( Scalar a )

Definition at line 264 of file Dual.hpp.

Referenced by IsInf(), and main().

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◆ IsInf() [2/2]

template<typename Scalar , size_t N>

bool matrix::IsInf ( const Dual< Scalar, N > & a )

Definition at line 270 of file Dual.hpp.

References IsInf(), and matrix::Dual< Scalar, N >::value.

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◆ IsNan() [1/2]

template<typename Scalar >

bool matrix::IsNan ( Scalar a )

Definition at line 238 of file Dual.hpp.

Referenced by IsNan(), and main().

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◆ IsNan() [2/2]

template<typename Scalar , size_t N>

bool matrix::IsNan ( const Dual< Scalar, N > & a )

Definition at line 244 of file Dual.hpp.

References IsNan(), and matrix::Dual< Scalar, N >::value.

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◆ kalman_correct()

template<typename Type , size_t M, size_t N>

int matrix::kalman_correct	(	const Matrix< Type, M, M > &	P,
		const Matrix< Type, N, M > &	C,
		const Matrix< Type, N, N > &	R,
		const Matrix< Type, N, 1 > &	r,
		Matrix< Type, M, 1 > &	dx,
		Matrix< Type, M, M > &	dP,
		Type &	beta
	)

Definition at line 8 of file filter.hpp.

References matrix::Matrix< Type, M, N >::T().

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◆ max() [1/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::max	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 224 of file Dual.hpp.

References matrix::Dual< Scalar, N >::value.

Referenced by FlightTaskAutoLineSmoothVel::_constrainOneSide(), ControlMath::constrainXY(), MatrixTest::inverseTests(), main(), MatrixTest::pseudoInverseTests(), PositionControl::setThrustLimits(), MatrixTest::squareMatrixTests(), and TEST().

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◆ max() [2/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::max	(	const Matrix< Type, M, N > &	x,
		const Type	scalar_lower_bound
	)

Definition at line 657 of file Matrix.hpp.

References matrix::typeFunction::max().

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◆ max() [3/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::max	(	const Type	scalar_lower_bound,
		const Matrix< Type, M, N > &	x
	)

Definition at line 668 of file Matrix.hpp.

References matrix::Matrix< Type, M, N >::max().

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◆ max() [4/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::max	(	const Matrix< Type, M, N > &	x1,
		const Matrix< Type, M, N > &	x2
	)

Definition at line 673 of file Matrix.hpp.

References matrix::typeFunction::max().

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◆ min() [1/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::min	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 231 of file Dual.hpp.

References matrix::Dual< Scalar, N >::value.

Referenced by FlightTaskAutoLineSmoothVel::_constrainOneSide(), main(), and PositionControl::setThrustLimits().

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◆ min() [2/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::min	(	const Matrix< Type, M, N > &	x,
		const Type	scalar_upper_bound
	)

Definition at line 630 of file Matrix.hpp.

References matrix::typeFunction::min().

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◆ min() [3/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::min	(	const Type	scalar_upper_bound,
		const Matrix< Type, M, N > &	x
	)

Definition at line 641 of file Matrix.hpp.

References matrix::Matrix< Type, M, N >::min().

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◆ min() [4/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::min	(	const Matrix< Type, M, N > &	x1,
		const Matrix< Type, M, N > &	x2
	)

Definition at line 646 of file Matrix.hpp.

References matrix::typeFunction::min().

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◆ nans()

template<size_t M, size_t N>

Matrix<float, M, N> matrix::nans ( )

Definition at line 558 of file Matrix.hpp.

References matrix::Matrix< Type, M, N >::setNaN().

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◆ ones()

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::ones ( )

Definition at line 551 of file Matrix.hpp.

References matrix::Matrix< Type, M, N >::setOne().

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◆ operator*() [1/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator*	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 146 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator*() [2/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator*	(	const Dual< Scalar, N > &	a,
		Scalar	b
	)

Definition at line 152 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator*() [3/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator*	(	Scalar	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 158 of file Dual.hpp.

◆ operator*() [4/4]

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::operator*	(	Type	scalar,
		const Matrix< Type, M, N > &	other
	)

Definition at line 565 of file Matrix.hpp.

◆ operator+() [1/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator+ ( const Dual< Scalar, N > & a )

Definition at line 98 of file Dual.hpp.

◆ operator+() [2/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator+	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 110 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator+() [3/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator+	(	const Dual< Scalar, N > &	a,
		Scalar	b
	)

Definition at line 122 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator+() [4/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator+	(	Scalar	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 134 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator-() [1/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator- ( const Dual< Scalar, N > & a )

Definition at line 104 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator-() [2/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator-	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 116 of file Dual.hpp.

◆ operator-() [3/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator-	(	const Dual< Scalar, N > &	a,
		Scalar	b
	)

Definition at line 128 of file Dual.hpp.

◆ operator-() [4/4]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator-	(	Scalar	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 140 of file Dual.hpp.

◆ operator/() [1/3]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator/	(	const Dual< Scalar, N > &	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 164 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ operator/() [2/3]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator/	(	const Dual< Scalar, N > &	a,
		Scalar	b
	)

Definition at line 172 of file Dual.hpp.

◆ operator/() [3/3]

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::operator/	(	Scalar	a,
		const Dual< Scalar, N > &	b
	)

Definition at line 178 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

◆ sin()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::sin ( const Dual< Scalar, N > & a )

Definition at line 279 of file Dual.hpp.

References cos(), matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by matrix::AxisAngle< Type >::AxisAngle(), cos(), matrix::Dcm< float >::Dcm(), FloatTest::doublePrecisionTests(), GPSHelper::ECEF2lla(), f(), matrix::Quaternion< Type >::from_axis_angle(), get_bearing_to_next_waypoint(), get_distance_to_arc(), get_distance_to_next_waypoint(), get_distance_to_point_global_wgs84(), get_vector_to_next_waypoint(), main(), map_projection_init_timestamped(), map_projection_project(), map_projection_reproject(), matrix::Quaternion< Type >::Quaternion(), MicroBenchMath::MicroBenchMath::time_double_precision_float_trig(), and waypoint_from_heading_and_distance().

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◆ sqrt()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::sqrt ( const Dual< Scalar, N > & a )

Definition at line 188 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by acos(), asin(), control::blockRandGaussTest(), cholesky(), GPSHelper::ECEF2lla(), get_distance_to_next_waypoint(), get_distance_to_point_global_wgs84(), insert_values_around_mean(), matrix::LeastSquaresSolver< Type, M, N >::LeastSquaresSolver(), main(), map_projection_reproject(), matrix::Vector< Type, 3 >::norm(), matrix::Slice< Type, P, Q, M, N >::norm(), matrix::Vector< Type, 3 >::sqrt(), MicroBenchMath::MicroBenchMath::time_double_precision_float(), and MicroBenchMath::MicroBenchMath::time_double_precision_float_trig().

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◆ tan()

template<typename Scalar , size_t N>

Dual<Scalar, N> matrix::tan ( const Dual< Scalar, N > & a )

Definition at line 293 of file Dual.hpp.

References matrix::Dual< Scalar, N >::derivative, and matrix::Dual< Scalar, N >::value.

Referenced by main(), and MicroBenchMath::MicroBenchMath::time_double_precision_float_trig().

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◆ wrap()

template<typename Type >

Type matrix::wrap	(	Type	x,
		Type	low,
		Type	high
	)

Wrap value to stay in range [low, high)

Parameters

x	input possibly outside of the range
low	lower limit of the allowed range
high	upper limit of the allowed range

Returns: wrapped value inside the range

Definition at line 51 of file helper_functions.hpp.

References floor().

Referenced by main(), TEST_F(), wrap_2pi(), and wrap_pi().

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◆ wrap_2pi()

template<typename Type >

Type matrix::wrap_2pi ( Type x )

Wrap value in range [0, 2π)

Definition at line 76 of file helper_functions.hpp.

References M_TWOPI, and wrap().

Referenced by CollisionPrevention::_adaptSetpointDirection(), CollisionPrevention::_addDistanceSensorData(), CollisionPrevention::_calculateConstrainedSetpoint(), create_waypoint_from_line_and_dist(), MavlinkReceiver::handle_message_hil_gps(), main(), MavlinkMissionManager::parse_mavlink_mission_item(), MavlinkStreamVFRHUD::send(), MavlinkStreamGPSRawInt::send(), MavlinkStreamGPS2Raw::send(), MavlinkStreamGlobalPositionInt::send(), TEST_F(), waypoint_from_heading_and_distance(), MavlinkStreamHighLatency2::write_attitude_sp(), MavlinkStreamHighLatency2::write_global_position(), and MavlinkStreamHighLatency2::write_wind_estimate().

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◆ wrap_pi()

template<typename Type >

Type matrix::wrap_pi ( Type x )

Wrap value in range [-π, π)

Definition at line 67 of file helper_functions.hpp.

References M_PI, and wrap().

Referenced by FlightTaskAuto::_compute_heading_from_2D_vector(), vmount::OutputBase::_handle_position_update(), FlightTaskAuto::_limitYawRate(), ECL_WheelController::control_attitude(), FixedwingPositionControl::control_landing(), Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), MulticopterAttitudeControl::generate_attitude_setpoint(), get_bearing_to_next_waypoint(), get_distance_to_arc(), get_distance_to_line(), Mission::heading_sp_update(), MatrixTest::helperTests(), MissionBlock::is_mission_item_reached(), main(), ECL_L1_Pos_Controller::nav_bearing(), ECL_L1_Pos_Controller::navigate_heading(), FollowTarget::on_active(), Ekf::resetGpsAntYaw(), GPS::run(), matrix::Quaternion< Type >::to_axis_angle(), AttitudeEstimatorQ::update(), and Standard::update_mc_state().

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◆ zeros()

template<typename Type , size_t M, size_t N>

Matrix<Type, M, N> matrix::zeros ( )

Definition at line 544 of file Matrix.hpp.

References matrix::Matrix< Type, M, N >::setZero().

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Namespaces

Classes

Typedefs

Functions

Typedef Documentation

◆ AxisAnglef

◆ Dcmf

◆ Eulerf

◆ Matrix3f

◆ Quaternionf

◆ Quatf

◆ Scalarf

◆ SquareMatrix3f

◆ Vector2f

◆ Vector3f

Function Documentation

◆ abs()

◆ acos()

◆ asin()

◆ atan()

◆ atan2()

◆ ceil()

◆ cholesky()

◆ choleskyInv()

◆ collectDerivatives()

◆ collectReals()

◆ constrain() [1/2]

◆ constrain() [2/2]

◆ cos()

◆ diag()

◆ expm()

◆ eye()

◆ floor()

◆ fmod()

◆ fullRankCholesky()

◆ fullRankCholeskyTolerance()

◆ fullRankCholeskyTolerance< double >()

◆ geninv()

◆ integrate_rk4()

◆ inv() [1/2]

◆ inv() [2/2]

◆ is_finite()

◆ isEqual()

◆ isEqualF()

◆ IsFinite() [1/2]

◆ IsFinite() [2/2]

◆ IsInf() [1/2]

◆ IsInf() [2/2]

◆ IsNan() [1/2]

◆ IsNan() [2/2]

◆ kalman_correct()

◆ max() [1/4]

◆ max() [2/4]

◆ max() [3/4]

◆ max() [4/4]

◆ min() [1/4]

◆ min() [2/4]

◆ min() [3/4]

◆ min() [4/4]

◆ nans()

◆ ones()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator+() [1/4]

◆ operator+() [2/4]

◆ operator+() [3/4]

◆ operator+() [4/4]

◆ operator-() [1/4]

◆ operator-() [2/4]

◆ operator-() [3/4]

◆ operator-() [4/4]

◆ operator/() [1/3]

◆ operator/() [2/3]

◆ operator/() [3/3]

◆ sin()

◆ sqrt()

◆ tan()

◆ wrap()