You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
81 lines
2.9 KiB
81 lines
2.9 KiB
#!/usr/bin/env python
|
|
import sympy as sp
|
|
import numpy as np
|
|
|
|
def cross(x):
|
|
ret = sp.Matrix(np.zeros((3,3)))
|
|
ret[0,1], ret[0,2] = -x[2], x[1]
|
|
ret[1,0], ret[1,2] = x[2], -x[0]
|
|
ret[2,0], ret[2,1] = -x[1], x[0]
|
|
return ret
|
|
|
|
def euler_rotate(roll, pitch, yaw):
|
|
# make symbolic rotation matrix from eulers
|
|
matrix_roll = sp.Matrix([[1, 0, 0],
|
|
[0, sp.cos(roll), -sp.sin(roll)],
|
|
[0, sp.sin(roll), sp.cos(roll)]])
|
|
matrix_pitch = sp.Matrix([[sp.cos(pitch), 0, sp.sin(pitch)],
|
|
[0, 1, 0],
|
|
[-sp.sin(pitch), 0, sp.cos(pitch)]])
|
|
matrix_yaw = sp.Matrix([[sp.cos(yaw), -sp.sin(yaw), 0],
|
|
[sp.sin(yaw), sp.cos(yaw), 0],
|
|
[0, 0, 1]])
|
|
return matrix_yaw*matrix_pitch*matrix_roll
|
|
|
|
def quat_rotate(q0, q1, q2, q3):
|
|
# make symbolic rotation matrix from quat
|
|
return sp.Matrix([[q0**2 + q1**2 - q2**2 - q3**2, 2*(q1*q2 + q0*q3), 2*(q1*q3 - q0*q2)],
|
|
[2*(q1*q2 - q0*q3), q0**2 - q1**2 + q2**2 - q3**2, 2*(q2*q3 + q0*q1)],
|
|
[2*(q1*q3 + q0*q2), 2*(q2*q3 - q0*q1), q0**2 - q1**2 - q2**2 + q3**2]]).T
|
|
|
|
def quat_matrix_l(p):
|
|
return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
|
|
[p[1], p[0], -p[3], p[2]],
|
|
[p[2], p[3], p[0], -p[1]],
|
|
[p[3], -p[2], p[1], p[0]]])
|
|
|
|
def quat_matrix_r(p):
|
|
return sp.Matrix([[p[0], -p[1], -p[2], -p[3]],
|
|
[p[1], p[0], p[3], -p[2]],
|
|
[p[2], -p[3], p[0], p[1]],
|
|
[p[3], p[2], -p[1], p[0]]])
|
|
|
|
|
|
def sympy_into_c(sympy_functions):
|
|
from sympy.utilities import codegen
|
|
routines = []
|
|
for name, expr, args in sympy_functions:
|
|
r = codegen.make_routine(name, expr, language="C99")
|
|
|
|
# argument ordering input to sympy is broken with function with output arguments
|
|
nargs = []
|
|
# reorder the input arguments
|
|
for aa in args:
|
|
if aa is None:
|
|
nargs.append(codegen.InputArgument(sp.Symbol('unused'), dimensions=[1,1]))
|
|
continue
|
|
found = False
|
|
for a in r.arguments:
|
|
if str(aa.name) == str(a.name):
|
|
nargs.append(a)
|
|
found = True
|
|
break
|
|
if not found:
|
|
# [1,1] is a hack for Matrices
|
|
nargs.append(codegen.InputArgument(aa, dimensions=[1,1]))
|
|
# add the output arguments
|
|
for a in r.arguments:
|
|
if type(a) == codegen.OutputArgument:
|
|
nargs.append(a)
|
|
|
|
#assert len(r.arguments) == len(args)+1
|
|
r.arguments = nargs
|
|
|
|
# add routine to list
|
|
routines.append(r)
|
|
|
|
[(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
|
|
c_code = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_code.split("\n")))
|
|
c_header = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_header.split("\n")))
|
|
|
|
return c_header, c_code
|
|
|