drivers replace math::Vector<3> with matrix::Vector3f

src/drivers/device/integrator.cpp

@@ -63,7 +63,7 @@ Integrator::~Integrator()
 }
 
 bool
-Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt)
+Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt)
 {
 	if (_last_integration_time == 0) {
 		/* this is the first item in the integrator */
@@ -84,7 +84,7 @@ Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integ
 	}
 
 	// Use trapezoidal integration to calculate the delta integral
-	math::Vector<3> delta_alpha = (val + _last_val) * dt * 0.5f;
+	matrix::Vector3f delta_alpha = (val + _last_val) * dt * 0.5f;
 	_last_val = val;
 
 	// Calculate coning corrections if required
@@ -126,7 +126,7 @@ Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integ
 }
 
 bool
-Integrator::put_with_interval(unsigned interval_us, math::Vector<3> &val, math::Vector<3> &integral,
+Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
 			      uint64_t &integral_dt)
 {
 	if (_last_integration_time == 0) {
@@ -145,10 +145,10 @@ Integrator::put_with_interval(unsigned interval_us, math::Vector<3> &val, math::
 	return put(timestamp, val, integral, integral_dt);
 }
 
-math::Vector<3>
+matrix::Vector3f
 Integrator::get(bool reset, uint64_t &integral_dt)
 {
-	math::Vector<3> val = _alpha;
+	matrix::Vector3f val = _alpha;
 
 	if (reset) {
 		_reset(integral_dt);
@@ -157,11 +157,11 @@ Integrator::get(bool reset, uint64_t &integral_dt)
 	return val;
 }
 
-math::Vector<3>
-Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, math::Vector<3> &filtered_val)
+matrix::Vector3f
+Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val)
 {
 	// Do the usual get with reset first but don't return yet.
-	math::Vector<3> ret_integral = get(reset, integral_dt);
+	matrix::Vector3f ret_integral = get(reset, integral_dt);
 
 	// Because we need both the integral and the integral_dt.
 	filtered_val(0) = ret_integral(0) * 1000000 / integral_dt;

src/drivers/device/integrator.h

@@ -60,7 +60,7 @@ class Integrator
 	 * @return		true if putting the item triggered an integral reset and the integral should be
 	 *			published.
 	 */
-	bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt);
+	bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt);
 
 	/**
 	 * Put an item into the integral but provide an interval instead of a timestamp.
@@ -74,7 +74,7 @@ class Integrator
 	 * @return		true if putting the item triggered an integral reset and the integral should be
 	 *			published.
 	 */
-	bool put_with_interval(unsigned interval_us, math::Vector<3> &val, math::Vector<3> &integral,
+	bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
 			       uint64_t &integral_dt);
 
 	/**
@@ -84,7 +84,7 @@ class Integrator
 	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
 	 * @return		the integral since the last read-reset
 	 */
-	math::Vector<3>		get(bool reset, uint64_t &integral_dt);
+	matrix::Vector3f	get(bool reset, uint64_t &integral_dt);
 
 	/**
 	 * Get the current integral and reset the integrator if needed. Additionally give the
@@ -95,18 +95,18 @@ class Integrator
 	 * @param filtered_val	The integral differentiated by the integration time.
 	 * @return		the integral since the last read-reset
 	 */
-	math::Vector<3>		get_and_filtered(bool reset, uint64_t &integral_dt, math::Vector<3> &filtered_val);
+	matrix::Vector3f	get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
 
 private:
 	uint64_t _auto_reset_interval;			/**< the interval after which the content will be published
 							     and the integrator reset, 0 if no auto-reset */
 	uint64_t _last_integration_time;		/**< timestamp of the last integration step */
 	uint64_t _last_reset_time;			/**< last auto-announcement of integral value */
-	math::Vector<3> _alpha;				/**< integrated value before coning corrections are applied */
-	math::Vector<3> _last_alpha;			/**< previous value of _alpha */
-	math::Vector<3> _beta;				/**< accumulated coning corrections */
-	math::Vector<3> _last_val;			/**< previous input */
-	math::Vector<3> _last_delta_alpha;		/**< integral from previous previous sampling interval */
+	matrix::Vector3f _alpha;			/**< integrated value before coning corrections are applied */
+	matrix::Vector3f _last_alpha;			/**< previous value of _alpha */
+	matrix::Vector3f _beta;				/**< accumulated coning corrections */
+	matrix::Vector3f _last_val;			/**< previous input */
+	matrix::Vector3f _last_delta_alpha;		/**< integral from previous previous sampling interval */
 	bool _coning_comp_on;				/**< true to turn on coning corrections */
 
 	/* we don't want this class to be copied */

src/drivers/imu/adis16448/adis16448.cpp

@@ -1533,16 +1533,16 @@ ADIS16448::measure()
 	arb.temperature_raw = report.temp;
 	arb.temperature 	= (report.temp * 0.07386f) + 31.0f;
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
 	arb.x_integral = aval_integrated(0);
 	arb.y_integral = aval_integrated(1);
 	arb.z_integral = aval_integrated(2);
 
-	math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, grb.integral_dt);
 	grb.x_integral = gval_integrated(0);

src/drivers/imu/bmi055/bmi055_accel.cpp

@@ -758,8 +758,8 @@ BMI055_accel::measure()
 	arb.y = _accel_filter_y.apply(y_in_new);
 	arb.z = _accel_filter_z.apply(z_in_new);
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
 	arb.x_integral = aval_integrated(0);

src/drivers/imu/bmi055/bmi055_gyro.cpp

@@ -730,8 +730,8 @@ BMI055_gyro::measure()
 	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
 	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
 
-	math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(grb.timestamp, gval, gval_integrated, grb.integral_dt);
 	grb.x_integral = gval_integrated(0);

src/drivers/imu/bmi160/bmi160.cpp

@@ -1180,8 +1180,8 @@ BMI160::measure()
 	arb.y = _accel_filter_y.apply(y_in_new);
 	arb.z = _accel_filter_z.apply(z_in_new);
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
 	arb.x_integral = aval_integrated(0);
@@ -1218,8 +1218,8 @@ BMI160::measure()
 	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
 	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
 
-	math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
 	grb.x_integral = gval_integrated(0);

src/drivers/imu/fxas21002c/fxas21002c.cpp

@@ -1062,8 +1062,8 @@ FXAS21002C::measure()
 	gyro_report.y = _gyro_filter_y.apply(y_in_new);
 	gyro_report.z = _gyro_filter_z.apply(z_in_new);
 
-	math::Vector<3> gval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
 	gyro_report.x_integral = gval_integrated(0);

src/drivers/imu/fxos8701cq/fxos8701cq.cpp

@@ -1460,8 +1460,8 @@ FXOS8701CQ::measure()
 	accel_report.y = _accel_filter_y.apply(y_in_new);
 	accel_report.z = _accel_filter_z.apply(z_in_new);
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
 	accel_report.x_integral = aval_integrated(0);

src/drivers/imu/l3gd20/l3gd20.cpp

@@ -1032,8 +1032,8 @@ L3GD20::measure()
 	report.y = _gyro_filter_y.apply(yin);
 	report.z = _gyro_filter_z.apply(zin);
 
-	math::Vector<3> gval(xin, yin, zin);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(xin, yin, zin);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(report.timestamp, gval, gval_integrated, report.integral_dt);
 	report.x_integral = gval_integrated(0);

src/drivers/imu/lsm303d/lsm303d.cpp

@@ -1569,8 +1569,8 @@ LSM303D::measure()
 	accel_report.y = _accel_filter_y.apply(y_in_new);
 	accel_report.z = _accel_filter_z.apply(z_in_new);
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
 	accel_report.x_integral = aval_integrated(0);

src/drivers/imu/mpu6000/mpu6000.cpp

@@ -2012,8 +2012,8 @@ MPU6000::measure()
 	arb.y = _accel_filter_y.apply(y_in_new);
 	arb.z = _accel_filter_z.apply(z_in_new);
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
 	arb.x_integral = aval_integrated(0);
@@ -2055,8 +2055,8 @@ MPU6000::measure()
 	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
 	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
 
-	math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
 	grb.x_integral = gval_integrated(0);

src/drivers/imu/mpu9250/mpu9250.cpp

@@ -1423,8 +1423,8 @@ MPU9250::measure()
 	arb.y = _accel_filter_y.apply(y_in_new);
 	arb.z = _accel_filter_z.apply(z_in_new);
 
-	math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
-	math::Vector<3> aval_integrated;
+	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+	matrix::Vector3f aval_integrated;
 
 	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
 	arb.x_integral = aval_integrated(0);
@@ -1461,8 +1461,8 @@ MPU9250::measure()
 	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
 	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
 
-	math::Vector<3> gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-	math::Vector<3> gval_integrated;
+	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+	matrix::Vector3f gval_integrated;
 
 	bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
 	grb.x_integral = gval_integrated(0);

src/lib/conversion/rotation.cpp

@@ -50,6 +50,15 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix)
 	rot_matrix->from_euler(roll, pitch, yaw);
 }
 
+__EXPORT matrix::Dcmf
+get_rot_matrix(enum Rotation rot)
+{
+	return matrix::Dcmf{matrix::Eulerf{
+			math::radians((float)rot_lookup[rot].roll),
+			math::radians((float)rot_lookup[rot].pitch),
+			math::radians((float)rot_lookup[rot].yaw)}};
+}
+
 #define HALF_SQRT_2 0.70710678118654757f
 
 __EXPORT void

src/lib/conversion/rotation.h

@@ -133,9 +133,9 @@ const rot_lookup_t rot_lookup[] = {
 /**
  * Get the rotation matrix
  */
-__EXPORT void
-get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix);
+__EXPORT void get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix);
 
+__EXPORT matrix::Dcmf get_rot_matrix(enum Rotation rot);
 
 /**
  * rotate a 3 element float vector in-place

src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp

@@ -111,7 +111,7 @@ class DfAK8963Wrapper : public AK8963
 		float z_scale;
 	} _mag_calibration;
 
-	math::Matrix<3, 3>      _rotation_matrix;
+	matrix::Dcmf	_rotation_matrix;
 
 	int			_mag_orb_class_instance;
 
@@ -136,7 +136,7 @@ DfAK8963Wrapper::DfAK8963Wrapper(enum Rotation rotation) :
 	_mag_calibration.z_offset = 0.0f;
 
 	// Get sensor rotation matrix
-	get_rot_matrix(rotation, &_rotation_matrix);
+	_rotation_matrix = get_rot_matrix(rotation);
 }
 
 DfAK8963Wrapper::~DfAK8963Wrapper()
@@ -285,7 +285,7 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
 	mag_report.y_raw = 0;
 	mag_report.z_raw = 0;
 
-	math::Vector<3> mag_val(data.field_x_ga, data.field_y_ga, data.field_z_ga);
+	matrix::Vector3f mag_val(data.field_x_ga, data.field_y_ga, data.field_z_ga);
 
 	// apply sensor rotation on the accel measurement
 	mag_val = _rotation_matrix * mag_val;

src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp

@@ -111,7 +111,7 @@ class DfHmc5883Wrapper : public HMC5883
 		float z_scale;
 	} _mag_calibration;
 
-	math::Matrix<3, 3>      _rotation_matrix;
+	matrix::Dcmf      _rotation_matrix;
 
 	int			_mag_orb_class_instance;
 
@@ -136,7 +136,7 @@ DfHmc5883Wrapper::DfHmc5883Wrapper(enum Rotation rotation, const char *path) :
 	_mag_calibration.z_offset = 0.0f;
 
 	// Get sensor rotation matrix
-	get_rot_matrix(rotation, &_rotation_matrix);
+	_rotation_matrix = get_rot_matrix(rotation);
 }
 
 DfHmc5883Wrapper::~DfHmc5883Wrapper()
@@ -283,9 +283,9 @@ int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
 	mag_report.y_raw = 0;
 	mag_report.z_raw = 0;
 
-	math::Vector<3> mag_val(data.field_x_ga,
-				data.field_y_ga,
-				data.field_z_ga);
+	matrix::Vector3f mag_val(data.field_x_ga,
+				 data.field_y_ga,
+				 data.field_z_ga);
 
 	// apply sensor rotation on the accel measurement
 	mag_val = _rotation_matrix * mag_val;