math: added some headers and doxygen comments

sw/airborne/math/pprz_algebra_double.h

@@ -1,3 +1,32 @@
+/*
+ * Copyright (C) 2008-2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file pprz_algebra_double.h
+ *   @brief Paparazzi double precision floating point algebra.
+ *
+ *   This is the more detailed description of this file.
+ *
+ */
+
 #ifndef PPRZ_ALGEBRA_DOUBLE_H
 #define PPRZ_ALGEBRA_DOUBLE_H
 
@@ -15,6 +44,9 @@ struct DoubleVect3 {
   double z;
 };
 
+/**
+ * @brief Roation quaternion
+ */
 struct DoubleQuat {
   double qi;
   double qx;
@@ -26,16 +58,25 @@ struct DoubleMat33 {
   double m[3*3];
 };
 
+/**
+ * @brief rotation matrix
+ */
 struct DoubleRMat {
   double m[3*3];
 };
 
+/**
+ * @brief euler angles
+ * @details Units: radians */
 struct DoubleEulers {
   double phi;
   double theta;
   double psi;
 };
 
+/**
+ * @brief angular rates
+ * @details Units: rad/s^2 */
 struct DoubleRates {
   double p;
   double q;

sw/airborne/math/pprz_algebra_float.h

@@ -1,7 +1,5 @@
 /*
- * $Id$
- *
- * Copyright (C) 2008-2010  The Paparazzi Team
+ * Copyright (C) 2008-2011 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -16,9 +14,16 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file pprz_algebra_float.h
+ *   @brief Paparazzi floating point algebra.
+ *
+ *   This is the more detailed description of this file.
  *
  */
 
@@ -46,6 +51,9 @@ struct FloatVect3 {
   float z;
 };
 
+/**
+ * @brief Roation quaternion
+ */
 struct FloatQuat {
   float qi;
   float qx;
@@ -57,16 +65,25 @@ struct FloatMat33 {
   float m[3*3];
 };
 
+/**
+ * @brief rotation matrix
+ */
 struct FloatRMat {
   float m[3*3];
 };
 
+/**
+ * @brief euler angles
+ * @details Units: radians */
 struct FloatEulers {
   float phi;
   float theta;
   float psi;
 };
 
+/**
+ * @brief angular rates
+ * @details Units: rad/s^2 */
 struct FloatRates {
   float p;
   float q;

sw/airborne/math/pprz_algebra_int.h

@@ -1,7 +1,5 @@
 /*
- * $Id$
- *
- * Copyright (C) 2008-2010  The Paparazzi Team
+ * Copyright (C) 2008-2011 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -16,9 +14,16 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file pprz_algebra_int.h
+ *   @brief Paparazzi fixed point algebra.
+ *
+ *   This is the more detailed description of this file.
  *
  */
 
@@ -69,6 +74,9 @@ struct Int32Vect3 {
 
 /* Rotation quaternions                         */
 #define INT32_QUAT_FRAC 15
+/**
+ * @brief Roation quaternion
+ * @details Units: INT32_QUAT_FRAC */
 struct Int32Quat {
   int32_t qi;
   int32_t qx;
@@ -104,6 +112,9 @@ struct Int16Eulers {
   int16_t psi;
 };
 
+/**
+ * @brief euler angles
+ * @details Units: rad with INT32_ANGLE_FRAC */
 struct Int32Eulers {
   int32_t phi;
   int32_t theta;
@@ -113,6 +124,10 @@ struct Int32Eulers {
 
 /* Rotation matrix. */
 #define INT32_TRIG_FRAC 14
+
+/**
+ * @brief rotation matrix
+ * @details Units: rad with INT32_TRIG_FRAC */
 struct Int32RMat {
   int32_t m[3*3];
 };
@@ -130,6 +145,9 @@ struct Int16Rates {
 };
 
 /* Rotational speed                              */
+/**
+ * @brief angular rates
+ * @details Units: rad/s^2 with INT32_RATE_FRAC */
 struct Int32Rates {
   int32_t p;
   int32_t q;

sw/airborne/math/pprz_geodetic_double.h

@@ -1,39 +1,81 @@
+/*
+ * Copyright (C) 2008-2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file pprz_geodetic_double.h
+ *   @brief Paparazzi double-precision floating point math for geodetic calculations.
+ *
+ *   This is the more detailed description of this file.
+ *
+ */
+
 #ifndef PPRZ_GEODETIC_DOUBLE_H
 #define PPRZ_GEODETIC_DOUBLE_H
 
 #include "pprz_geodetic.h"
 #include "pprz_algebra_double.h"
 
-/* Earth Centered Earth Fixed in meters */
+/**
+ * @brief vector in EarthCenteredEarthFixed coordinates
+ * @details Units: meters */
 struct EcefCoor_d {
   double x;
   double y;
   double z;
 };
 
-/* lon, lat in radians */
-/* alt in meters       */
+/**
+ * @brief vector in Latitude, Longitude and Altitude
+ * @details Units lat,lon: radians
+ * Unit alt: meters above MSL
+ */
 struct LlaCoor_d {
   double lon;
   double lat;
   double alt;
 };
 
-/* North East Down local tangeant plane */
+/**
+ * @brief vector in North East Down coordinates
+ * Units: meters */
 struct NedCoor_d {
   double x;
   double y;
   double z;
 };
 
-/* East North Up local tangeant plane */
+/**
+ * @brief vector in East North Up coordinates
+ * Units: meters */
 struct EnuCoor_d {
   double x;
   double y;
   double z;
 };
 
-/* Local tangeant plane reference */
+/**
+ * @brief definition of the local (flat earth) coordinate system
+ * @details Defines the origin of the local coordinate system
+ * in ECEF and LLA coordinates and the roation matrix from
+ * ECEF to local frame */
 struct LtpDef_d {
   struct EcefCoor_d  ecef;
   struct LlaCoor_d   lla;

sw/airborne/math/pprz_geodetic_float.h

@@ -1,39 +1,81 @@
+/*
+ * Copyright (C) 2008-2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * @file pprz_geodetic_float.h
+ *   @brief Paparazzi floating point math for geodetic calculations.
+ *
+ *   This is the more detailed description of this file.
+ *
+ */
+
 #ifndef PPRZ_GEODETIC_FLOAT_H
 #define PPRZ_GEODETIC_FLOAT_H
 
 #include "pprz_geodetic.h"
 #include "pprz_algebra_float.h"
 
-/* Earth Centered Earth Fixed in meters */
+/**
+ * @brief vector in EarthCenteredEarthFixed coordinates
+ * @details Units: meters */
 struct EcefCoor_f {
   float x;
   float y;
   float z;
 };
 
-/* lon, lat in radians */
-/* alt in meters       */
+/**
+ * @brief vector in Latitude, Longitude and Altitude
+ * @details Units lat,lon: radians
+ * Unit alt: meters above MSL
+ */
 struct LlaCoor_f {
   float lon;
   float lat;
   float alt;
 };
 
-/* North East Down local tangeant plane */
+/**
+ * @brief vector in North East Down coordinates
+ * Units: meters */
 struct NedCoor_f {
   float x;
   float y;
   float z;
 };
 
-/* East North Up local tangeant plane */
+/**
+ * @brief vector in East North Up coordinates
+ * Units: meters */
 struct EnuCoor_f {
   float x;
   float y;
   float z;
 };
 
-/* Local tangeant plane reference */
+/**
+ * @brief definition of the local (flat earth) coordinate system
+ * @details Defines the origin of the local coordinate system
+ * in ECEF and LLA coordinates and the roation matrix from
+ * ECEF to local frame */
 struct LtpDef_f {
   struct EcefCoor_f ecef;
   struct LlaCoor_f  lla;