Reformat of math library with astyle.

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