It makes no sense to return 0 for the vector norm when the vector containsNaNs. Just return NaN instead, Furthermore don't refuse to normalize vectorswhen the length is small. Unless the length really is zero, it should be safeto scale with the inverse length.
Unless all vector length are very close to unity, trying to avoid taking asquare root only slows things down (at least on x86_64 and Arduino Uno).
limit scope of loop variable
Fix use of abs() function with float argument.
The abs() function in stdlib.h takes an integer argument. Passing it a floatwill silently convert the argument to int, and take the absolute value of theresult. Hence, abs(0.99) == 0, which is not what was intended. Use fabs instead.
make member functions const where appropriate, and pass vectors by reference
Remove unused include
The cross product is only defined for 3D vectors. Instead of checking the sizeat runtime, only provide an implementation for N==3. Trying to use the crossfunction with other vector sizes will then result in a link error.
Excessive parentheses only make the expressions hareder to read.
Replace use of float by double.
All values in a quaternion are declared double, let's not lose precision onplatforms where double is larger than float.
Simplify a few more functions, and pass vector arguments by reference
Simplify constructors
Simplify several functions by replacing the body with one-line calls to theconstructor. Furthermore, pass Quaternion arguments by reference to avoidexcessive copying.
Quaternion needs the definition of a matrix. Include it.
Fix conversion of impure rotation matrices to quaternions
The test for the largest element in the matrix diagonal was reversed, whichresulted in taking the square root of a negative value for matrices withdeterminant less than zero.
Store determinant as double when computing matrix inverse. Does not matter on Arduino, but might on other platforms.
The recursive definition of the determinant function, combined with the factthat no specialized function for the base case N==1 is given, leads toinstantiation of this function for all 256 possible values of a uint8_t (eventhough these are not used in practice). Fix this by providing an explicit...
Remove inclusion of unused headers
Fix calculation of inverse. We should divide by the determinant instead of multiply with it.
Fix minor_matrix() accessing data past end of array.
Get rid of superfluous _cell member
Use more standard (i, j) index names and constify transpose()
Prevent copying row data for every element in matrix multiplication.
Dox matrix addition, subtraction, and scalar multiplication using a single loop instead of a double loop.
make row and column retrieval function const, pass Vector arguments to row and column setters as const reference
Use a single loop to copy matrices
Add functions for reading elements of constant matrix
Fix memset() in constructors writing past end of data
Include vector.h, so that including just matrix.h will pull in the requested dependencies
Version 1.1.1
Version 1.0.7
Merge pull request #14 from dhiltonp/Zero-doc
added documentation on Arduino Zero compatibility
Merge pull request #7 from aerialist/master
Configure axis mapping
Merge pull request #10 from Wetmelon/master
Add Calibration Functionality
Fix Whitespace
Return to unsigned ints, fix some formatting
Fix Example
Cleaned up output text, and added cal data by default
Fixed bug reading system status values
Added displayCalStatus() helper
Added system status helper
Define axis_remap_config and axis_remap_sign for Placement P0 to P7according to section 3.4.Add example code in begin function (commented out).
Update library.properties
Update bunny rotate example to display calibration status.
Fix #3 and add calibration status to raw example.
Add getCalibration function read calibration register values.
Merge pull request #4 from pldg/master
Bug fixes, math library fixes
Remove unnecessary double* pointer from Vector<N>
The pointer prevents the use of bitwise move/copy/initialize operationson Vector(). Less importantly, it's an unnecessary memory bloat.
Bug fix for Vector::magnitude()
Sample failure: Vector<1>(0.5).magnitude() returns 1, not 0.5.The avoid-sqrt optimization is dubious at best, and should arguablyjust be removed.
Bug fixes for getQuat() and begin()
Add "const" to non-mutating Vector, Quat methods
Also adds some clarifying documentation, since the quat->euler axisconventions are a bit surprising.
Updated version to 1.0.4
Merge pull request #1 from adafruit/tinywirem
Small changes for better compatibility with low memory boards like Trinket
Switch from dynamic memory to stack allocated memory for imumath types, add TinyWireM support, make indentation consistent.
adds library.properties
Merge branch 'master' of github.com:adafruit/Adafruit_BNO055
Fixed Euler rotation output
fix url
tiny bit slower
Untabification!
Removed debug Serial.print calls
Fixed typo
Added rotating bunny sketch
added external xtal capability, sensor reset into begin(), removed 'printdouble'
Added Adafruit_Sensor base class
removed struct from test, added selftest forcing
Added getTemp()
Removed debug stuff
Added printDouble helper
Updated the example to include units
Added unit scaling
Added getVector and getQuat functions
First commit