{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/2962","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2962/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2962/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2962/events","html_url":"https://github.com/diydrones/ardupilot/pull/2962","id":110640732,"number":2962,"title":"AP_Eigen","user":{"login":"dgrat","id":4668178,"avatar_url":"https://avatars.githubusercontent.com/u/4668178?v=3","gravatar_id":"","url":"https://api.github.com/users/dgrat","html_url":"https://github.com/dgrat","followers_url":"https://api.github.com/users/dgrat/followers","following_url":"https://api.github.com/users/dgrat/following{/other_user}","gists_url":"https://api.github.com/users/dgrat/gists{/gist_id}","starred_url":"https://api.github.com/users/dgrat/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dgrat/subscriptions","organizations_url":"https://api.github.com/users/dgrat/orgs","repos_url":"https://api.github.com/users/dgrat/repos","events_url":"https://api.github.com/users/dgrat/events{/privacy}","received_events_url":"https://api.github.com/users/dgrat/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-10-09T11:39:36Z","updated_at":"2015-10-09T16:53:07Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/diydrones/ardupilot/pulls/2962","html_url":"https://github.com/diydrones/ardupilot/pull/2962","diff_url":"https://github.com/diydrones/ardupilot/pull/2962.diff","patch_url":"https://github.com/diydrones/ardupilot/pull/2962.patch"},"body":"Added a new sub module, with example. The \"interface\" adds some of the known functions for length, and error checks.\r\nIf AP_Math would be removed, one only needs to remove two conversion operators and everything is fine.\r\nIt is smart to derive from Eigen anyway if one wants to add more functionality later, so I don't share @lucasdemarchi concerns, as I only implemented some of the useful functions (not everything in AP_Math is bad).\r\nI tweaked the size. So the objects for matrices and vectors are all the same (AP_Math and Eigen and my Class).\r\n@tridge  Memory fragmentation shouldn't happen (no dynamic allocation, 1d array). The performance is better and theoretically there shouldn't be bugs in the current implementation.\r\nI guess everyone should test this module and compare flash sizes and behavior. In best case the size of the executable increases just a bit, memory consumptions stays the same and performance is ~30% better :D \r\n@tridge regarding the code quality, I think there is no doubt that the current math backend has disadvantages, because the interface is not complete. The implementation is partially also not smart.  \r\n\r\nSigned-off-by: dgrat <dgdanielf@gmail.com>"},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/146929041","html_url":"https://github.com/diydrones/ardupilot/pull/2962#issuecomment-146929041","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2962","id":146929041,"user":{"login":"lucasdemarchi","id":31864,"avatar_url":"https://avatars.githubusercontent.com/u/31864?v=3","gravatar_id":"","url":"https://api.github.com/users/lucasdemarchi","html_url":"https://github.com/lucasdemarchi","followers_url":"https://api.github.com/users/lucasdemarchi/followers","following_url":"https://api.github.com/users/lucasdemarchi/following{/other_user}","gists_url":"https://api.github.com/users/lucasdemarchi/gists{/gist_id}","starred_url":"https://api.github.com/users/lucasdemarchi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lucasdemarchi/subscriptions","organizations_url":"https://api.github.com/users/lucasdemarchi/orgs","repos_url":"https://api.github.com/users/lucasdemarchi/repos","events_url":"https://api.github.com/users/lucasdemarchi/events{/privacy}","received_events_url":"https://api.github.com/users/lucasdemarchi/received_events","type":"User","site_admin":false},"created_at":"2015-10-09T16:53:07Z","updated_at":"2015-10-09T16:53:07Z","body":"@dgrat but here I'm complaining on the way you did the submodule, not anything else."}}