Reformat of math library with astyle.

1 files changed, 50 insertions, 52 deletions

diff --git a/apps/systemlib/math/EulerAngles.cpp b/apps/systemlib/math/EulerAngles.cpp
index b530f172d..259c866c7 100644
--- a/apps/systemlib/math/EulerAngles.cpp
+++ b/apps/systemlib/math/EulerAngles.cpp
@@ -48,48 +48,46 @@ namespace math
 {
 
 EulerAngles::EulerAngles() :
-    Vector(3)
+	Vector(3)
 {
-    setPhi(0.0f);
-    setTheta(0.0f);
-    setPsi(0.0f);
+	setPhi(0.0f);
+	setTheta(0.0f);
+	setPsi(0.0f);
 }
 
 EulerAngles::EulerAngles(float phi, float theta, float psi) :
-    Vector(3)
+	Vector(3)
 {
-    setPhi(phi);
-    setTheta(theta);
-    setPsi(psi);
+	setPhi(phi);
+	setTheta(theta);
+	setPsi(psi);
 }
 
-EulerAngles::EulerAngles(const Quaternion & q) :
-    Vector(3)
+EulerAngles::EulerAngles(const Quaternion &q) :
+	Vector(3)
 {
-    (*this) = EulerAngles(Dcm(q));
+	(*this) = EulerAngles(Dcm(q));
 }
 
-EulerAngles::EulerAngles(const Dcm & dcm) :
-    Vector(3)
+EulerAngles::EulerAngles(const Dcm &dcm) :
+	Vector(3)
 {
-    setTheta(asinf(-dcm(2,0))); 
-    if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f)
-    {
-        setPhi(0.0f);
-        setPsi(atan2f(dcm(1,2) - dcm(0,1),
-            dcm(0,2) + dcm(1,1)) + getPhi());
-    }
-    else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f)
-    {
-        setPhi(0.0f);
-        setPsi(atan2f(dcm(1,2) - dcm(0,1),
-            dcm(0,2) + dcm(1,1)) - getPhi());
-    }
-    else
-    {
-        setPhi(atan2f(dcm(2,1),dcm(2,2)));
-        setPsi(atan2f(dcm(1,0),dcm(0,0)));
-    }
+	setTheta(asinf(-dcm(2, 0)));
+
+	if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) + getPhi());
+
+	} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
+		setPhi(0.0f);
+		setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
+			      dcm(0, 2) + dcm(1, 1)) - getPhi());
+
+	} else {
+		setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
+		setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
+	}
 }
 
 EulerAngles::~EulerAngles()
@@ -98,27 +96,27 @@ EulerAngles::~EulerAngles()
 
 int __EXPORT eulerAnglesTest()
 {
-    printf("Test EulerAngles\t: ");
-    EulerAngles euler(1,2,3);
-
-    // test ctor
-    ASSERT(vectorEqual(Vector3(1,2,3),euler));
-    ASSERT(equal(euler.getPhi(),1));
-    ASSERT(equal(euler.getTheta(),2));
-    ASSERT(equal(euler.getPsi(),3));
-
-    // test dcm ctor
-
-    // test assignment
-    euler.setPhi(4);
-    ASSERT(equal(euler.getPhi(),4));
-    euler.setTheta(5);
-    ASSERT(equal(euler.getTheta(),5));
-    euler.setPsi(6);
-    ASSERT(equal(euler.getPsi(),6));
-    
-    printf("PASS\n");
-    return 0;
+	printf("Test EulerAngles\t: ");
+	EulerAngles euler(1, 2, 3);
+
+	// test ctor
+	ASSERT(vectorEqual(Vector3(1, 2, 3), euler));
+	ASSERT(equal(euler.getPhi(), 1));
+	ASSERT(equal(euler.getTheta(), 2));
+	ASSERT(equal(euler.getPsi(), 3));
+
+	// test dcm ctor
+
+	// test assignment
+	euler.setPhi(4);
+	ASSERT(equal(euler.getPhi(), 4));
+	euler.setTheta(5);
+	ASSERT(equal(euler.getTheta(), 5));
+	euler.setPsi(6);
+	ASSERT(equal(euler.getPsi(), 6));
+
+	printf("PASS\n");
+	return 0;
 }
 
 } // namespace math