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author | jgoppert <james.goppert@gmail.com> | 2013-01-06 15:33:55 -0500 |
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committer | jgoppert <james.goppert@gmail.com> | 2013-01-06 15:33:55 -0500 |
commit | d9491b20cc5fc8b683eb0f60a50da6b322b55e57 (patch) | |
tree | 48d44accf2ccff88766bca351c78be06bb9fa4a0 /apps/systemlib/math/Dcm.cpp | |
parent | 4f3b17f53b120cd54112097f4217a90863013c1f (diff) | |
download | px4-firmware-d9491b20cc5fc8b683eb0f60a50da6b322b55e57.tar.gz px4-firmware-d9491b20cc5fc8b683eb0f60a50da6b322b55e57.tar.bz2 px4-firmware-d9491b20cc5fc8b683eb0f60a50da6b322b55e57.zip |
Reformat of math library with astyle.
Diffstat (limited to 'apps/systemlib/math/Dcm.cpp')
-rw-r--r-- | apps/systemlib/math/Dcm.cpp | 120 |
1 files changed, 60 insertions, 60 deletions
diff --git a/apps/systemlib/math/Dcm.cpp b/apps/systemlib/math/Dcm.cpp index 1e9c4ee6d..b9f4309cc 100644 --- a/apps/systemlib/math/Dcm.cpp +++ b/apps/systemlib/math/Dcm.cpp @@ -48,64 +48,64 @@ namespace math { Dcm::Dcm() : - Matrix(Matrix::identity(3)) + Matrix(Matrix::identity(3)) { } -Dcm::Dcm(const float * data) : - Matrix(3,3,data) +Dcm::Dcm(const float *data) : + Matrix(3, 3, data) { } -Dcm::Dcm(const Quaternion & q) : - Matrix(3,3) +Dcm::Dcm(const Quaternion &q) : + Matrix(3, 3) { - Dcm & dcm = *this; - float a = q.getA(); - float b = q.getB(); - float c = q.getC(); - float d = q.getD(); - float aSq = a*a; - float bSq = b*b; - float cSq = c*c; - float dSq = d*d; - dcm(0,0) = aSq + bSq - cSq - dSq; - dcm(0,1) = 2*(b*c - a*d); - dcm(0,2) = 2*(a*c + b*d); - dcm(1,0) = 2*(b*c + a*d); - dcm(1,1) = aSq - bSq + cSq - dSq; - dcm(1,2) = 2*(c*d - a*b); - dcm(2,0) = 2*(b*d - a*c); - dcm(2,1) = 2*(a*b + c*d); - dcm(2,2) = aSq - bSq - cSq + dSq; + Dcm &dcm = *this; + float a = q.getA(); + float b = q.getB(); + float c = q.getC(); + float d = q.getD(); + float aSq = a * a; + float bSq = b * b; + float cSq = c * c; + float dSq = d * d; + dcm(0, 0) = aSq + bSq - cSq - dSq; + dcm(0, 1) = 2 * (b * c - a * d); + dcm(0, 2) = 2 * (a * c + b * d); + dcm(1, 0) = 2 * (b * c + a * d); + dcm(1, 1) = aSq - bSq + cSq - dSq; + dcm(1, 2) = 2 * (c * d - a * b); + dcm(2, 0) = 2 * (b * d - a * c); + dcm(2, 1) = 2 * (a * b + c * d); + dcm(2, 2) = aSq - bSq - cSq + dSq; } -Dcm::Dcm(const EulerAngles & euler) : - Matrix(3,3) +Dcm::Dcm(const EulerAngles &euler) : + Matrix(3, 3) { - Dcm & dcm = *this; - float cosPhi = cosf(euler.getPhi()); - float sinPhi = sinf(euler.getPhi()); - float cosThe = cosf(euler.getTheta()); - float sinThe = sinf(euler.getTheta()); - float cosPsi = cosf(euler.getPsi()); - float sinPsi = sinf(euler.getPsi()); + Dcm &dcm = *this; + float cosPhi = cosf(euler.getPhi()); + float sinPhi = sinf(euler.getPhi()); + float cosThe = cosf(euler.getTheta()); + float sinThe = sinf(euler.getTheta()); + float cosPsi = cosf(euler.getPsi()); + float sinPsi = sinf(euler.getPsi()); - dcm(0,0) = cosThe*cosPsi; - dcm(0,1) = -cosPhi*sinPsi + sinPhi*sinThe*cosPsi; - dcm(0,2) = sinPhi*sinPsi + cosPhi*sinThe*cosPsi; + dcm(0, 0) = cosThe * cosPsi; + dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi; + dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi; - dcm(1,0) = cosThe*sinPsi; - dcm(1,1) = cosPhi*cosPsi + sinPhi*sinThe*sinPsi; - dcm(1,2) = -sinPhi*cosPsi + cosPhi*sinThe*sinPsi; + dcm(1, 0) = cosThe * sinPsi; + dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi; + dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi; - dcm(2,0) = -sinThe; - dcm(2,1) = sinPhi*cosThe; - dcm(2,2) = cosPhi*cosThe; + dcm(2, 0) = -sinThe; + dcm(2, 1) = sinPhi * cosThe; + dcm(2, 2) = cosPhi * cosThe; } -Dcm::Dcm(const Dcm & right) : - Matrix(right) +Dcm::Dcm(const Dcm &right) : + Matrix(right) { } @@ -115,22 +115,22 @@ Dcm::~Dcm() int __EXPORT dcmTest() { - printf("Test DCM\t\t: "); - Vector3 vB(1,2,3); - ASSERT(matrixEqual(Dcm(Quaternion(1,0,0,0)), - Matrix::identity(3))); - ASSERT(matrixEqual(Dcm(EulerAngles(0,0,0)), - Matrix::identity(3))); - ASSERT(vectorEqual(Vector3(-2,1,3), - Dcm(EulerAngles(0,0,M_PI_2_F))*vB)); - ASSERT(vectorEqual(Vector3(3,2,-1), - Dcm(EulerAngles(0,M_PI_2_F,0))*vB)); - ASSERT(vectorEqual(Vector3(1,-3,2), - Dcm(EulerAngles(M_PI_2_F,0,0))*vB)); - ASSERT(vectorEqual(Vector3(3,2,-1), - Dcm(EulerAngles( - M_PI_2_F,M_PI_2_F,M_PI_2_F))*vB)); - printf("PASS\n"); - return 0; + printf("Test DCM\t\t: "); + Vector3 vB(1, 2, 3); + ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)), + Matrix::identity(3))); + ASSERT(matrixEqual(Dcm(EulerAngles(0, 0, 0)), + Matrix::identity(3))); + ASSERT(vectorEqual(Vector3(-2, 1, 3), + Dcm(EulerAngles(0, 0, M_PI_2_F))*vB)); + ASSERT(vectorEqual(Vector3(3, 2, -1), + Dcm(EulerAngles(0, M_PI_2_F, 0))*vB)); + ASSERT(vectorEqual(Vector3(1, -3, 2), + Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB)); + ASSERT(vectorEqual(Vector3(3, 2, -1), + Dcm(EulerAngles( + M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB)); + printf("PASS\n"); + return 0; } } // namespace math |