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Transfer math to Eigen #319

Closed
14 tasks done
vooon opened this issue Jun 28, 2015 · 3 comments
Closed
14 tasks done

Transfer math to Eigen #319

vooon opened this issue Jun 28, 2015 · 3 comments
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@vooon
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API change enhancement
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Version 0.13

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@vooon
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vooon commented Jun 28, 2015

We already have some matrix math done by hand and TF bullet.
Also other dev's use Eigen with TF2, so seems that it required for #71.

TODO:

  • imu_pub
  • global_position
  • local_position
  • safety_area
  • setpoint_accel
  • setpoint_attitude
  • setpoint_position
  • setpoint_velocity
  • mocap_pose_estimate
  • px4flow
  • vision_pose_estimate
  • vision_speed_estimate
  • visualization
  • UAS class
@vooon vooon added this to the Version 0.13 milestone Jun 28, 2015
@TSC21
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TSC21 commented Jun 28, 2015

👍 finally! Just let me know what's needed.

vooon added a commit that referenced this issue Jul 1, 2015
@vooon
mavros #319: Add Eigen dependency and cmake rule.
f1c2725
vooon added a commit that referenced this issue Jul 1, 2015
@vooon
eigen #319: add euler-quat function.
cafa455 
Also #321.
vooon added a commit that referenced this issue Jul 1, 2015
@vooon
eigen #319: handy wrappers.
73ae68a
vooon added a commit that referenced this issue Jul 2, 2015
@vooon
Merge branch 'master' into coverity_scan
91ccea0 
* master:
  plugin: imu_pub fix #320: move constants outside class, else runtime linkage error.
  plugin: imu_pub #320: first attempt
  eigen #319: handy wrappers.
  eigen #319: add euler-quat function.
  test #321: remove duplicated test cases, separate by library.
  test #321: testing eigen-based transforms.
  mavros #319: Add Eigen dependency and cmake rule.
  0.12.0
  Prepare release 0.12
  test: import launch for imu testing
  test: apm sitl and imu test reproduction steps
  test: test for UAS::transform_frame_attitude_rpy() (ERRORs!)
  test: test for UAS::transform_frame_xyz()
  test: Initial import test_frame_conv
  test: Add test_marvros package stub
vooon added a commit that referenced this issue Jul 2, 2015
@vooon
plugin: setpoint_velocity #319: use eigen based frame transform.
9034e2c
vooon added a commit that referenced this issue Jul 2, 2015
@vooon
plugin: setpoint_accel #319: use eigen frame transform.
f7bbb49 
I don't think that PX4 support any other frame than LOCAL_NED.
So i removed comment.

Also style fix in setpoint_velocity.
@vooon vooon self-assigned this Jul 2, 2015
vooon added a commit that referenced this issue Jul 9, 2015
@vooon
plugin: local_position #71 #319: port to TF2 and Eigen
8ccd073
vooon added a commit that referenced this issue Jul 9, 2015
@vooon
plugin: safety_area #319: Change transform_frame()
48e371a
vooon added a commit that referenced this issue Jul 9, 2015
@vooon
extras: mocap #319: use eigen based transform
89b5659
vooon added a commit that referenced this issue Jul 9, 2015
@vooon
extras: px4flow #319: change transform_frame()
61b1875
vooon added a commit that referenced this issue Jul 9, 2015
@vooon
extras: vision_speed #319: use eigen based transform
7e381ab
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vooon commented Jul 9, 2015

Ok, all code without tf listener are moved.
Exception is visualization because #336.

vooon added a commit that referenced this issue Jul 10, 2015
@vooon
extras: vision_pose #71: Use TF2 listener.
f22ab3b 
Also #319.
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
lib #319: remove unused bullet based transform_frame()
22ad844
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
lib #319: transform_frame() for Covariance3x3
09355d2
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
lib #319: use similar names for covariances as eigen vector
1d409ae
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin: local_position mavlink#71 mavlink#319: port to TF2 and Eigen
fa511bc
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin: safety_area mavlink#319: Change transform_frame()
6b43432
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: mocap mavlink#319: use eigen based transform
7dc1e18
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: px4flow mavlink#319: change transform_frame()
f0b64bb
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: vision_speed mavlink#319: use eigen based transform
aa6336e
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: vision_pose mavlink#71: Use TF2 listener.
deb0220 
Also mavlink#319.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
lib mavlink#319: remove unused bullet based transform_frame()
348fe22
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin: local_position mavlink#71 mavlink#319: port to TF2 and Eigen
79e8a6b
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
plugin: safety_area mavlink#319: Change transform_frame()
4ed6345
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: mocap mavlink#319: use eigen based transform
e3a9151
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: px4flow mavlink#319: change transform_frame()
0312184
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: vision_speed mavlink#319: use eigen based transform
a11f717
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
extras: vision_pose mavlink#71: Use TF2 listener.
2c8879e 
Also mavlink#319.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
lib mavlink#319: remove unused bullet based transform_frame()
122c532
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
lib mavlink#319: transform_frame() for Covariance3x3
1bd32c5
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 10, 2015
@vooon @TSC21
lib mavlink#319: use similar names for covariances as eigen vector
844bb2c
@vooon
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vooon commented Jul 10, 2015

Ok, #71 now closed. So most of tf::Vector3 and tf::Quaternion are gone.

But i find strange code at distance_sensor, @TSC21 how RPY-Q may work if you give degrees to that function?
It wants radians. I think to refactor orientation enum.
I don't see where really may be needed euler angles (in degrees), while quaternions may be useful.
(even in your code - single usage of method - converts to q).

vooon added a commit that referenced this issue Jul 10, 2015
@vooon
Merge branch 'master' into verbcast
6e2a39f 
* master:
  fix #71: replace depend tf to tf2_ros.
  extras: distance_sensor #71: Purt to TF2.
  plugin: Use UAS::syncronized_header() for reduce LOC.
  lib #319: use similar names for covariances as eigen vector
  lib #319: transform_frame() for Covariance3x3
  lib #319: remove unused bullet based transform_frame()
  extras: vision_pose #71: Use TF2 listener.
  plugin #71: Implement TF2 listener. Change param names.
  uas #71: Use single TF2 objects for broadcasting and subscription.
  launch: Update configs.
  extras: viz #336: convert plugin to node.
  lib: Add UAS::quaternion_to_rpy()
  extras: vision_speed #319: use eigen based transform
  extras: vibration: Use UAS::synchronized_header()
  extras: px4flow #319: change transform_frame()
  extras: mocap #319: use eigen based transform
  plugin: safety_area #319: Change transform_frame()
  plugin: local_position #71 #319: port to TF2 and Eigen
  lib: Add UAS::synchonized_header()
  plugin: command: Add command broadcasting support.
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
Can not remove tf package before #319 is done.
1223ebc 
tf::Vector3 and other tf1-bullet still in use.
vooon added a commit that referenced this issue Jul 10, 2015
@vooon
Merge branch 'master' into autopilot_version_broadcast
a7f0dad 
* master:
  Can not remove tf package before #319 is done.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
plugin: local_position mavlink#71 mavlink#319: port to TF2 and Eigen
21e8754
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
plugin: safety_area mavlink#319: Change transform_frame()
131cdaf
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
extras: mocap mavlink#319: use eigen based transform
78c922e
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
extras: px4flow mavlink#319: change transform_frame()
2fb766c
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
extras: vision_speed mavlink#319: use eigen based transform
3d12195
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
extras: vision_pose mavlink#71: Use TF2 listener.
2b818aa 
Also mavlink#319.
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
lib mavlink#319: remove unused bullet based transform_frame()
0ca3fd8
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
lib mavlink#319: transform_frame() for Covariance3x3
2ff7fe0
TSC21 pushed a commit to TSC21/mavros that referenced this issue Jul 12, 2015
@vooon @TSC21
lib mavlink#319: use similar names for covariances as eigen vector
ff833f8
@TSC21 TSC21 mentioned this issue Jul 16, 2015
Closed
vooon pushed a commit that referenced this issue Jul 16, 2015
@TSC21 @vooon
lib #319: Return quaternion from UAS::sensor_matching()
e7c6c77
vooon added a commit that referenced this issue Jul 16, 2015
@vooon
lib #319, #341: preparation for str->MAV_SENSOR_ORIENTATION func
81e3965
vooon added a commit that referenced this issue Jul 23, 2015
@vooon
lib #319: Remove TF types from UAS
b77fec7
@vooon vooon closed this as completed Jul 23, 2015
vooon added a commit that referenced this issue Jul 23, 2015
@vooon
Merge branch 'master' into coverity_scan
7095e76 
* master: (87 commits)
  package: comment-out c++03 related flags
  package: Replace YouCompleteMe config with @galou gist
  scripts: fix mavwp
  test: add test cases for new sensor orientation functions
  remove tf1 dep
  lib #319: Remove TF types from UAS
  plugin: param: new message type: ParamValue
  msgs: Move MAV_CMD values to separate msg
  plugin: command: fix build
  fix whitespaces in python scripts
  Added launch file for PX4 posix sitl to launch gcs_bridge node for bridging posix and gazebo
  scripts: mavftp: little speed up by aligning access to payload length
  launch: Add optional log_output arg
  distance_sensor #342: correct orientation parameter handling.
  lib #342: try to convert numeric value too
  Update iris_empty_world_offboard_ctl.launch
  px4_config: adapt to distance_sensor params to new features
  distance_sensor: restructure orientation matching and verification
  lib #342: Added sensor orientation string repr.
  test: fix prerelease building
  ...
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