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167 commits

Author SHA1 Message Date
Mateo de Mayo dad7957fb2 a/math: Add clock_offset.h 
For now it only has our simple exponential smoothing clock offset estimator.
But more advanced ones can go here too.
 2022-12-02 16:10:09 +00:00
Moses Turner 85c0c78ac6 a/math: Fix m_vec3_angle function 
Dot product is equivalent to a.length*b.length*cos(theta), not a.length_squared*b.length_squared*cos(theta)
 2022-11-29 03:11:53 -06:00
Moses Turner f5d4d49607 a/math: Add math_quat_to_swing_twist 2022-11-23 13:02:35 -06:00
Moses Turner b3c277196e a/math: Add faster (and correct!) math_quat_from_swing_twist 2022-11-23 13:02:35 -06:00
Moses Turner e06dc0dda1 a/math: Correct documentation for math_quat_ln and math_quat_exp 2022-11-23 13:02:35 -06:00
Moses Turner d2e2c3a988 cmake: Run cmake-format.sh 2022-09-19 21:57:37 +01:00
Christoph Haag 3c9ef82060 a/math: Add math_matrix_4x4_transform_vec3 2022-08-25 12:41:07 +01:00
Moses Turner 386117c5ee NFC: a/math: Make math_quat_from_swing prettier 2022-08-13 19:31:58 +00:00
Jan Schmidt ce13de9484 aux/math: Add math_matrix_3x3_from_quat() 
Add a function to get a 3x3 rotation matrix
from a quaternion.
 2022-08-10 18:30:08 +01:00
Aidan Thornton 4840def448 a/math: add math_matrix_2x2_transform_vec2 2022-08-10 12:39:44 +00:00
Ryan Pavlik 831c2aefaf a/math: Fix doc warning 2022-08-08 16:44:24 +00:00
danwillm 9dc8632b0f aux/util: Add u_hand_simulation 
Co-authored-by: Moses Turner <moses@collabora.com>
 2022-08-01 17:33:40 +00:00
Ryan Pavlik 88389ae0ca a/math: Resolve warnings. 2022-07-14 14:17:35 +00:00
Moses Turner 543a436c99 m/relation_history: Add motion estimation 2022-06-18 21:50:14 +01:00
Mateo de Mayo 326402da2a a/math: Use angle as magnitude of change in m_filter_euro_quat 
Previously this was using math_quat_len which was always 1 for
these unit quaternions. This commit assumes math_quat_ln works properly which is
not exactly true at the moment and the returned angle will be twice as large.
 2022-06-18 14:19:01 -03:00
Mateo de Mayo d773ab4cf2 a/math: Add pose interpolate function and others 
- math_matrix_4x4_isometry_from_pose
- math_pose_from_isometry
- math_pose_interpolate
- m_vec3_equal
 2022-06-18 14:19:01 -03:00
Mateo de Mayo e7c3376612 a/math: Add disabled test to show problem with current quat_exp implementation 2022-06-02 15:47:57 +00:00
Campbell Suter 0f8da1900b a/math: Fix math_pose_invert breaking on rotated poses, and add a test 
Previously, math_pose_invert would apply a multiplication in the wrong
order. This lead to the position of the 'original' pose being rotated.

This patch fixes that, and adds a unit test to check this case.
 2022-06-01 16:44:03 +01:00
Mateo de Mayo 29aefe2ba8 misc: Use pretty printers and remove stale matrix print functions 
Use u_pp_matrix_* instead.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 05b8e320a5 a/math: Add multiple isometry-related matrix functions 
An isometry is a rigid body transform. In this context I'm using the term to
refer to 4x4 homogeneous matrices in SE(3). I.e., matrices comprised of a
3x3 rotation, a 3x1 translation, and a [0,0,0,1] last row.
This matrix represent both rigid body transforms.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 8b2fa955b9 a/math: Fix matrix identities and use isometry 
Isometry3f is a 4x4 matrix transform that performs only rotation and translation
(an SE(3) matrix). Its inverse can be computed trivially by Eigen compared to a
regular 4x4 transform.
 2022-05-26 18:35:39 +00:00
Mateo de Mayo 2212cf95cf a/math: Add missing extern C 2022-05-26 18:35:39 +00:00
Jakob Bornecrantz a4983fa5b1 auxiliary: Break apart CMakeLists.txt file 2022-05-23 09:12:54 -05:00
Mateo de Mayo 63b477d250 a/math: Add MIN, MAX and CLAMP macros 2022-05-19 14:03:17 +00:00
Arkadiusz Drohomirecki d444412221 a/math: Add a clear() method to RelationHistory/m_relation_history 2022-05-18 14:45:12 +00:00
Ryan Pavlik 2a54dcdb19 a/math: Improve word choice/clarity 2022-05-17 17:39:52 -05:00
Jakob Bornecrantz 4ba23faa6b auxiliary: Deal with clang-format-14 fallout (NFC) 2022-05-04 15:58:01 +01:00
Ryan Pavlik d8970f25f9 a/math: Fix conversion warnings 2022-05-03 22:44:28 +01:00
Jakob Bornecrantz 1afc18108e m/3dof: Fix conversion warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz 0a0d4a49d5 m/space: Fix function call warning 2022-05-02 17:16:04 +01:00
Jakob Bornecrantz d1512f0005 m/lowpass: Fix no define parameter warning 2022-05-02 17:16:04 +01:00
nima01 232b3bade5 aux/math: More double-precision matrix and vector support 2022-04-25 19:14:46 +00:00
Ryan Pavlik a55a5a54b3 a/math: Normalize argument order of one euro filter initializing functions. 2022-04-13 09:40:40 -05:00
Ryan Pavlik 3e6ec47296 monado: Apply clang-tidy fixes to most of the codebase. 
All at least visually inspected, some revised from the auto-fixit
 2022-04-13 09:34:54 -05:00
Ryan Pavlik 029fa2496e a/math: Tell clang-tidy to leave our MSVC-mandated define alone. 
Also try to avoid redefinition warnings from MSVC.
 2022-04-13 01:11:17 +01:00
Ryan Pavlik 7b3a2e7c1a a/math: C wrapper for the float low-pass filter too. 2022-02-22 16:44:44 -06:00
Ryan Pavlik cf07791e93 a/math: Add a C wrapper for the integer low-pass filter. 2022-02-22 16:42:53 -06:00
Ryan Pavlik a0e2df4cf0 tracking/math: Move the generic low pass filters to a/math 2022-02-22 16:42:53 -06:00
Ryan Pavlik 928254ffed a/math: Add a rational number struct template. 2022-02-22 09:58:19 -06:00
Mateo de Mayo 4b94d83c11 a/math: Fix one euro implementations not dividing by dt 
The dy name was kept. It can now be thought of as "[d]erivative of [y]"
instead of the previous "change of y". Also, the beta parameters of the
one-euro users were adjusted by approximately multiplying them by 0.016
to compensate.
 2022-02-22 13:34:45 +00:00
Mateo de Mayo b04c26e522 a/math: Expose quat_{exp, ln} and test them 2022-02-22 13:34:45 +00:00
Mateo de Mayo 8820a3e99c a/math: Add m_filter_euro_quat 2022-02-14 10:22:05 -03:00
Mateo de Mayo 06597a0655 a/math: Add math_quat_{len, unrotate} 2022-02-14 10:22:05 -03:00
Mateo de Mayo cf5574a4e9 m/space: Add m_space_relation_interpolate 2022-02-14 10:22:05 -03:00
Ryan Pavlik 94e053d0d4 a/math: More relation history cleanup 2022-02-08 17:00:11 +00:00
Ryan Pavlik 1c183a9eeb a/math: Simplify m_history_relation using standard algorithms 2022-02-08 17:00:11 +00:00
Ryan Pavlik 90c74578d1 a/util: Refactor HistoryBuffer to be more like a standard container. 2022-02-08 17:00:11 +00:00
Ryan Pavlik c9889f776f xrt: Rename xrt_space_graph to xrt_relation_chain. 
Rename all functions and instances accordingly as well,
and add documentation for all methods.
 2022-01-21 19:54:30 +00:00
Mateo de Mayo 7e0d93e3fb tests: Add tests for quatexpmap interface functions and minor changes in their docs 2021-12-22 12:16:27 -03:00
Mateo de Mayo 76d7729e4d m/vec3: Add operator/ for scalar division 2021-12-21 11:43:17 +00:00