ControlMath.hpp File Reference

Simple functions for vector manipulation that do not fit into matrix lib. More...

#include <matrix/matrix/math.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>

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Namespaces
	ControlMath

Functions
void	ControlMath::thrustToAttitude (const matrix::Vector3f &thr_sp, const float yaw_sp, vehicle_attitude_setpoint_s &attitude_setpoint)
	Converts thrust vector and yaw set-point to a desired attitude. More...
Vector2f	ControlMath::constrainXY (const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max)
	Outputs the sum of two vectors but respecting the limits and priority. More...
bool	ControlMath::cross_sphere_line (const matrix::Vector3f &sphere_c, const float sphere_r, const matrix::Vector3f &line_a, const matrix::Vector3f &line_b, matrix::Vector3f &res)
	This method was used for smoothing the corners along two lines. More...

Detailed Description

Simple functions for vector manipulation that do not fit into matrix lib.

These functions are specific for controls.

Definition in file ControlMath.hpp.