Merge branch 'refs/heads/far-grps'

.gitignore

@@ -8,6 +8,7 @@ Untitled*
 *.mexw32
 *.mexa64
 *.mexmaci64
+/generated/
 
 # Autogenerated code folder
 /codegen/

aa2dcm.m

@@ -30,7 +30,7 @@
            ['%s: The number of input axes must match the number of ' ...
             'input angles.'], mfilename);
 
-    % Pre-allocate the DCMs.
+    % Preallocate the DCMs.
     R = zeros(3, 3, length(theta), class(theta));
 
     % If running in regular MATLAB, vectorize.

aa2mrp.m

@@ -0,0 +1,46 @@
+function p = aa2mrp(r, theta, f)
+
+% aa2mrp
+
+% Copyright 2016 An Uncommon Lab
+
+%#codegen
+
+    % Set defaults so that for small angles, the scaled MRPs approach the 
+    % rotation vector.
+    if nargin < 3 || isempty(f), f = 1; end;
+
+    % Check dimensions.
+    assert(nargin >= 2, ...
+           '%s: At least two inputs are required.', mfilename);
+    assert(size(r, 1) == 3, ...
+           '%s: The axes must be 3-by-n.', mfilename);
+    assert(size(r, 2) == size(theta, 2), ...
+           ['%s: The number of input axes must match the number of ' ...
+            'input angles.'], mfilename);
+    assert(all(size(f) == 1), ...
+           '%s: The scaling factor must be a scalar.');
+
+    % If running in regular MATLAB, vectorize.
+    if isempty(coder.target)
+
+        p = bsxfun(@times, tan(0.25 * theta), r);
+        if f ~= 1
+            p = f * p;
+        end
+
+    % Otherwise, write the loops.
+    else
+
+        n = size(r, 2);
+        p = zeros(3, n, class(theta));
+        for k = 1:n
+            p(:,k) = tan(0.25 * theta(k)) * r(:,k);
+        end
+        if f ~= 1
+            p = f * p;
+        end
+
+    end
+
+end % aa2mrp

aashort.m

@@ -0,0 +1,9 @@
+function [theta, r] = aashort(theta, r)
+    % TODO: If keeping, vectorize.
+    theta      = mod(theta, 2*pi);
+    ind        = theta >= pi;
+    theta(ind) = 2*pi - theta(ind);
+    if nargout >= 2
+        r(:,ind) = -r(:,ind);
+    end
+end

build_vectors_and_rotations.m

@@ -1,33 +1,67 @@
-% Generic values
-r     = coder.typeof(0, [3 1],   [0 1]);
-theta = coder.typeof(0, [1 1],   [0 1]);
-R     = coder.typeof(0, [3 3 1], [0 0 1]);
-q     = coder.typeof(0, [4 1],   [0 1]);
-p     = coder.typeof(0, [3 1],   [0 1]);
-ea    = coder.typeof(0, [3 1],   [0 1]);
-seq   = coder.typeof(uint8(1), [1 3]);
-a     = coder.typeof(1);
-f     = coder.typeof(4);
+function built = build_vectors_and_rotations(requested)
 
-% Things to build:
-build = {'aa2dcm',  {r, theta}; ...
-         'aa2grp',  {r, theta, a, f}; ...
-         'aa2q',    {r, theta}; ...
-         'dcm2aa',  {R}; ...
-         'dcm2ea',  {R, seq}; ...
-         'dcm2q',   {R}; ...
-         'ea2dcm',  {ea, seq}; ...
-         'ea2q',    {ea, seq}; ...
-         'grp2aa',  {p, a, f}; ...
-         'grp2dcm', {p, a, f}; ...
-         'grp2q',   {p, a, f}; ...
-         'q2aa',    {q}; ...
-         'q2dcm',   {q}; ...
-         'q2ea',    {q, seq}; ...
-         'q2grp',   {q, a, f}};
+    % Generic values
+    n     = inf;
+    r     = coder.typeof(0, [3 n],   [0 1]);
+    theta = coder.typeof(0, [1 n],   [0 1]);
+    R     = coder.typeof(0, [3 3 n], [0 0 1]);
+    q     = coder.typeof(0, [4 n],   [0 1]);
+    p     = coder.typeof(0, [3 n],   [0 1]);
+    ea    = coder.typeof(0, [3 n],   [0 1]);
+    t     = coder.typeof(0, [1, inf], [0 1]);
+    qi    = coder.typeof(0, [4, inf], [0 1]);
+    seq   = coder.typeof(uint8(1), [1 3]);
+    f     = coder.typeof(1);
 
-% Build everything.
-for k = 1:size(build, 1)
-    fprintf('Building %s...\n', build{k, 1});
-    codegen('-config:mex', build{k, 1}, '-args', build{k, 2});
-end
+    % Things to build:
+    build = {'aa2dcm',  {r, theta}; ...
+             'aa2mrp',  {r, theta, f}; ...
+             'aa2q',    {r, theta}; ...
+             'dcm2aa',  {R}; ...
+             'dcm2ea',  {R, seq}; ...
+             'dcm2q',   {R}; ...
+             'ea2dcm',  {ea, seq}; ...
+             'ea2q',    {ea, seq}; ...
+             'mrp2aa',  {p, f}; ...
+             'mrp2dcm', {p, f}; ...
+             'mrp2q',   {p, f}; ...
+             'q2aa',    {q}; ...
+             'q2dcm',   {q}; ...
+             'q2ea',    {q, seq}; ...
+             'q2mrp',   {q, f}; ...
+             'mrpalt',  {p, f}; ...
+             'mrpcomp', {p, p, f}; ...
+             'mrpdiff', {p, p, f}; ...
+             'mrperr',  {p, p, f}; ...
+             'qcomp',   {q, q}; ...
+             'qdiff',   {q, q}; ...
+             'qerr',    {q, q}; ...
+             'qinv',    {q}; ...
+             'qpos',    {q}; ...
+             'qrot',    {q, r}; ...
+             'rae2xyz', {r}; ...
+             'xyz2rae', {r}};
+...             'qinterp', {t, qi, t}; ...
+
+    % If only a subset is requested, find out which.
+    if nargin >= 1
+        indices = false(length(build), 1);
+        for k = 1:length(requested)
+            indices = indices | strcmp(build(:,1), requested{k});
+        end
+        build = build(indices, :);
+    end
+
+    % Build everything.
+    tic();
+    for k = 1:size(build, 1)
+        fprintf('Building %s...\n', build{k, 1});
+        codegen('-config:mex', build{k, 1}, ...
+                '-args', build{k, 2});
+    end
+    toc();
+
+    % Return the names of the built functions.
+    built = build(:,1);
+
+end % build_vectors_and_rotations

dcm2ea.m

@@ -32,7 +32,7 @@
         alpha = -1;
     end
 
-    % Pre-allocate.
+    % Preallocate.
     ea = zeros(3, size(R, 3), class(R));
 
     % If symmetric...

dcm2q.m

@@ -18,7 +18,7 @@
     assert(size(R, 1) == 3 && size(R, 2) == 3, ...
            '%s: The axes must be 3-by-n.', mfilename);
 
-    % Pre-allocate.
+    % Preallocate.
     q = zeros(4, n, class(R));
 
     % Split the conversion so as to divide by the largest possible number.

ea2dcm.m

@@ -28,7 +28,7 @@
         alpha = -1;
     end
 
-    % Pre-allocate.
+    % Preallocate.
     n = size(ea, 2);
     R = zeros(3, 3, n, class(ea));
 

ea2q.m

@@ -19,7 +19,7 @@
         alpha = -1;
     end
 
-    % Pre-allocate.
+    % Preallocate.
     n = size(ea, 2);
     q = zeros(4, n, class(ea));