Reformat of math library with astyle.

1 files changed, 118 insertions, 105 deletions

diff --git a/apps/systemlib/math/Matrix.cpp b/apps/systemlib/math/Matrix.cpp
index 08796da89..5e536c3a8 100644
--- a/apps/systemlib/math/Matrix.cpp
+++ b/apps/systemlib/math/Matrix.cpp
@@ -45,136 +45,149 @@
 namespace math
 {
 
-static const float data_testA[] = 
-    {1,2,3,
-     4,5,6};
-static Matrix testA(2,3,data_testA);
-
-static const float data_testB[] = 
-    {0,1,3,
-     7,-1,2};
-static Matrix testB(2,3,data_testB);
-
-static const float data_testC[] = 
-    {0,1,
-     2,1,
-     3,2};
-static Matrix testC(3,2,data_testC);
-
-static const float data_testD[] = 
-    {0,1,2,
-     2,1,4,
-     5,2,0};
-static Matrix testD(3,3,data_testD);
-
-static const float data_testE[] = 
-    {1,-1,2,
-     0,2,3,
-     2,-1,1};
-static Matrix testE(3,3,data_testE);
-
-static const float data_testF[] = 
-    {3.777e006f, 2.915e007f, 0.000e000f,
-     2.938e007f, 2.267e008f, 0.000e000f,
-     0.000e000f, 0.000e000f, 6.033e008f};
-static Matrix testF(3,3,data_testF);
+static const float data_testA[] = {
+	1, 2, 3,
+	4, 5, 6
+};
+static Matrix testA(2, 3, data_testA);
+
+static const float data_testB[] = {
+	0, 1, 3,
+	7, -1, 2
+};
+static Matrix testB(2, 3, data_testB);
+
+static const float data_testC[] = {
+	0, 1,
+	2, 1,
+	3, 2
+};
+static Matrix testC(3, 2, data_testC);
+
+static const float data_testD[] = {
+	0, 1, 2,
+	2, 1, 4,
+	5, 2, 0
+};
+static Matrix testD(3, 3, data_testD);
+
+static const float data_testE[] = {
+	1, -1, 2,
+	0, 2, 3,
+	2, -1, 1
+};
+static Matrix testE(3, 3, data_testE);
+
+static const float data_testF[] = {
+	3.777e006f, 2.915e007f, 0.000e000f,
+	2.938e007f, 2.267e008f, 0.000e000f,
+	0.000e000f, 0.000e000f, 6.033e008f
+};
+static Matrix testF(3, 3, data_testF);
 
 int __EXPORT matrixTest()
 {
-    matrixAddTest();
-    matrixSubTest();
-    matrixMultTest();
-    matrixInvTest();
-    matrixDivTest();
-    return 0;
+	matrixAddTest();
+	matrixSubTest();
+	matrixMultTest();
+	matrixInvTest();
+	matrixDivTest();
+	return 0;
 }
 
 int matrixAddTest()
 {
-    printf("Test Matrix Add\t\t: ");
-    Matrix r = testA + testB;
-    float data_test[] =
-        { 1.0f, 3.0f, 6.0f,
-         11.0f, 4.0f, 8.0f};
-    ASSERT(matrixEqual(Matrix(2,3,data_test),r));
-    printf("PASS\n");
-    return 0;
+	printf("Test Matrix Add\t\t: ");
+	Matrix r = testA + testB;
+	float data_test[] = {
+		1.0f, 3.0f, 6.0f,
+		11.0f, 4.0f, 8.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
 }
 
 int matrixSubTest()
 {
-    printf("Test Matrix Sub\t\t: ");
-    Matrix r = testA - testB;
-    float data_test[] =
-        { 1.0f, 1.0f, 0.0f,
-         -3.0f, 6.0f, 4.0f};
-    ASSERT(matrixEqual(Matrix(2,3,data_test),r));
-    printf("PASS\n");
-    return 0;
+	printf("Test Matrix Sub\t\t: ");
+	Matrix r = testA - testB;
+	float data_test[] = {
+		1.0f, 1.0f, 0.0f,
+		-3.0f, 6.0f, 4.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
 }
 
 int matrixMultTest()
 {
-    printf("Test Matrix Mult\t: ");
-    Matrix r = testC * testB;
-    float data_test[] =
-        { 7.0f, -1.0f,  2.0f,
-          7.0f,  1.0f,  8.0f,
-         14.0f,  1.0f, 13.0f};
-    ASSERT(matrixEqual(Matrix(3,3,data_test),r));
-    printf("PASS\n");
-    return 0;
+	printf("Test Matrix Mult\t: ");
+	Matrix r = testC * testB;
+	float data_test[] = {
+		7.0f, -1.0f,  2.0f,
+		7.0f,  1.0f,  8.0f,
+		14.0f,  1.0f, 13.0f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
 }
 
 int matrixInvTest()
 {
-    printf("Test Matrix Inv\t\t: ");
-    Matrix origF = testF;
-    Matrix r = testF.inverse();
-    float data_test[] =
-        { -0.0012518f,  0.0001610f, 0.0000000f,
-           0.0001622f, -0.0000209f, 0.0000000f,
-           0.0000000f,  0.0000000f, 1.6580e-9f};
-    ASSERT(matrixEqual(Matrix(3,3,data_test),r));
-    // make sure F in unchanged
-    ASSERT(matrixEqual(origF,testF));
-    printf("PASS\n");
-    return 0;
+	printf("Test Matrix Inv\t\t: ");
+	Matrix origF = testF;
+	Matrix r = testF.inverse();
+	float data_test[] = {
+		-0.0012518f,  0.0001610f, 0.0000000f,
+		0.0001622f, -0.0000209f, 0.0000000f,
+		0.0000000f,  0.0000000f, 1.6580e-9f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	// make sure F in unchanged
+	ASSERT(matrixEqual(origF, testF));
+	printf("PASS\n");
+	return 0;
 }
 
 int matrixDivTest()
 {
-    printf("Test Matrix Div\t\t: ");
-    Matrix r = testD / testE;
-    float data_test[] = {
-         0.2222222f, 0.5555556f, -0.1111111f,
-               0.0f,       1.0f,         1.0,
-        -4.1111111f, 1.2222222f,  4.5555556f};
-    ASSERT(matrixEqual(Matrix(3,3,data_test),r));
-    printf("PASS\n");
-    return 0;
+	printf("Test Matrix Div\t\t: ");
+	Matrix r = testD / testE;
+	float data_test[] = {
+		0.2222222f, 0.5555556f, -0.1111111f,
+		0.0f,       1.0f,         1.0,
+		-4.1111111f, 1.2222222f,  4.5555556f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
 }
 
-bool matrixEqual(const Matrix & a, const Matrix & b, float eps)
+bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
 {
-    if (a.getRows() != b.getRows()) {
-        printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
-        return false;
-    } else if (a.getCols() != b.getCols()) {
-        printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
-        return false;
-    }
-    bool ret = true;
-    for (size_t i=0;i<a.getRows();i++)
-        for (size_t j =0;j<a.getCols();j++)
-    {
-        if (!equal(a(i,j),b(i,j),eps))
-        {
-            printf("element mismatch (%d, %d)\n", i, j);
-            ret = false;
-        }
-    }
-    return ret;
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+
+	} else if (a.getCols() != b.getCols()) {
+		printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++)
+		for (size_t j = 0; j < a.getCols(); j++) {
+			if (!equal(a(i, j), b(i, j), eps)) {
+				printf("element mismatch (%d, %d)\n", i, j);
+				ret = false;
+			}
+		}
+
+	return ret;
 }
- 
+
 } // namespace math