Reformat of math library with astyle.

1 files changed, 95 insertions, 94 deletions

diff --git a/apps/systemlib/math/Quaternion.cpp b/apps/systemlib/math/Quaternion.cpp
index 79a913af6..12ae72c0e 100644
--- a/apps/systemlib/math/Quaternion.cpp
+++ b/apps/systemlib/math/Quaternion.cpp
@@ -48,68 +48,68 @@ namespace math
 {
 
 Quaternion::Quaternion() :
-    Vector(4)
+	Vector(4)
 {
-    setA(1.0f);
-    setB(0.0f);
-    setC(0.0f);
-    setD(0.0f);
+	setA(1.0f);
+	setB(0.0f);
+	setC(0.0f);
+	setD(0.0f);
 }
 
 Quaternion::Quaternion(float a, float b,
-        float c, float d) :
-    Vector(4)
+		       float c, float d) :
+	Vector(4)
 {
-    setA(a);
-    setB(b);
-    setC(c);
-    setD(d);
+	setA(a);
+	setB(b);
+	setC(c);
+	setD(d);
 }
 
-Quaternion::Quaternion(const float * data) :
-    Vector(4,data)
+Quaternion::Quaternion(const float *data) :
+	Vector(4, data)
 {
 }
 
-Quaternion::Quaternion(const Vector & v) :
-    Vector(v)
+Quaternion::Quaternion(const Vector &v) :
+	Vector(v)
 {
 }
 
-Quaternion::Quaternion(const Dcm & dcm) :
-    Vector(4)
+Quaternion::Quaternion(const Dcm &dcm) :
+	Vector(4)
 {
-    setA(0.5f*sqrtf(1 + dcm(0,0) + 
-            dcm(1,1) + dcm(2,2)));
-    setB((dcm(2,1) - dcm(1,2))/
-            (4*getA()));
-    setC((dcm(0,2) - dcm(2,0))/
-        (4*getA()));
-    setD((dcm(1,0) - dcm(0,1))/
-        (4*getA()));
+	setA(0.5f * sqrtf(1 + dcm(0, 0) +
+			  dcm(1, 1) + dcm(2, 2)));
+	setB((dcm(2, 1) - dcm(1, 2)) /
+	     (4 * getA()));
+	setC((dcm(0, 2) - dcm(2, 0)) /
+	     (4 * getA()));
+	setD((dcm(1, 0) - dcm(0, 1)) /
+	     (4 * getA()));
 }
 
-Quaternion::Quaternion(const EulerAngles & euler) :
-    Vector(4)
+Quaternion::Quaternion(const EulerAngles &euler) :
+	Vector(4)
 {
-    float cosPhi_2 = cosf(euler.getPhi()/2.0f);
-    float cosTheta_2 = cosf(euler.getTheta()/2.0f);
-    float cosPsi_2 = cosf(euler.getPsi()/2.0f);
-    float sinPhi_2 = sinf(euler.getPhi()/2.0f);
-    float sinTheta_2 = sinf(euler.getTheta()/2.0f);
-    float sinPsi_2 = sinf(euler.getPsi()/2.0f);
-    setA(cosPhi_2*cosTheta_2*cosPsi_2 + 
-        sinPhi_2*sinTheta_2*sinPsi_2);
-    setB(sinPhi_2*cosTheta_2*cosPsi_2 -
-        cosPhi_2*sinTheta_2*sinPsi_2);
-    setC(cosPhi_2*sinTheta_2*cosPsi_2 +
-        sinPhi_2*cosTheta_2*sinPsi_2);
-    setD(cosPhi_2*cosTheta_2*sinPsi_2 +
-        sinPhi_2*sinTheta_2*cosPsi_2);
+	float cosPhi_2 = cosf(euler.getPhi() / 2.0f);
+	float cosTheta_2 = cosf(euler.getTheta() / 2.0f);
+	float cosPsi_2 = cosf(euler.getPsi() / 2.0f);
+	float sinPhi_2 = sinf(euler.getPhi() / 2.0f);
+	float sinTheta_2 = sinf(euler.getTheta() / 2.0f);
+	float sinPsi_2 = sinf(euler.getPsi() / 2.0f);
+	setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
+	     sinPhi_2 * sinTheta_2 * sinPsi_2);
+	setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
+	     cosPhi_2 * sinTheta_2 * sinPsi_2);
+	setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
+	     sinPhi_2 * cosTheta_2 * sinPsi_2);
+	setD(cosPhi_2 * cosTheta_2 * sinPsi_2 +
+	     sinPhi_2 * sinTheta_2 * cosPsi_2);
 }
 
-Quaternion::Quaternion(const Quaternion & right) :
-    Vector(right)
+Quaternion::Quaternion(const Quaternion &right) :
+	Vector(right)
 {
 }
 
@@ -117,64 +117,65 @@ Quaternion::~Quaternion()
 {
 }
 
-Vector Quaternion::derivative(const Vector & w)
+Vector Quaternion::derivative(const Vector &w)
 {
 #ifdef QUATERNION_ASSERT
-    ASSERT(w.getRows()==3);
+	ASSERT(w.getRows() == 3);
 #endif
-    float dataQ[] = 
-    {getA(), -getB(), -getC(), -getD(),
-     getB(),  getA(), -getD(),  getC(),
-     getC(),  getD(),  getA(), -getB(),
-     getD(), -getC(),  getB(),  getA()};
-    Vector v(4);
-    v(0) = 0.0f;
-    v(1) = w(0);
-    v(2) = w(1);
-    v(3) = w(2);
-    Matrix Q(4,4,dataQ);
-    return Q*v*0.5f; 
+	float dataQ[] = {
+		getA(), -getB(), -getC(), -getD(),
+		getB(),  getA(), -getD(),  getC(),
+		getC(),  getD(),  getA(), -getB(),
+		getD(), -getC(),  getB(),  getA()
+	};
+	Vector v(4);
+	v(0) = 0.0f;
+	v(1) = w(0);
+	v(2) = w(1);
+	v(3) = w(2);
+	Matrix Q(4, 4, dataQ);
+	return Q * v * 0.5f;
 }
 
 int __EXPORT quaternionTest()
 {
-    printf("Test Quaternion\t\t: ");
-    // test default ctor
-    Quaternion q;
-    ASSERT(equal(q.getA(),1));  
-    ASSERT(equal(q.getB(),0));  
-    ASSERT(equal(q.getC(),0));  
-    ASSERT(equal(q.getD(),0));  
-    // test float ctor
-    q = Quaternion(0,1,0,0);
-    ASSERT(equal(q.getA(),0));  
-    ASSERT(equal(q.getB(),1));  
-    ASSERT(equal(q.getC(),0));  
-    ASSERT(equal(q.getD(),0));  
-    // test euler ctor
-    q = Quaternion(EulerAngles(0,0,0));
-    ASSERT(equal(q.getA(),1));  
-    ASSERT(equal(q.getB(),0));  
-    ASSERT(equal(q.getC(),0));  
-    ASSERT(equal(q.getD(),0));     
-    // test dcm ctor
-    q = Quaternion(Dcm());
-    ASSERT(equal(q.getA(),1));  
-    ASSERT(equal(q.getB(),0));  
-    ASSERT(equal(q.getC(),0));  
-    ASSERT(equal(q.getD(),0));     
-    // TODO test derivative
-    // test accessors
-    q.setA(0.1);
-    q.setB(0.2);
-    q.setC(0.3);
-    q.setD(0.4);
-    ASSERT(equal(q.getA(),0.1));  
-    ASSERT(equal(q.getB(),0.2));  
-    ASSERT(equal(q.getC(),0.3));  
-    ASSERT(equal(q.getD(),0.4));  
-    printf("PASS\n");
-    return 0;
+	printf("Test Quaternion\t\t: ");
+	// test default ctor
+	Quaternion q;
+	ASSERT(equal(q.getA(), 1));
+	ASSERT(equal(q.getB(), 0));
+	ASSERT(equal(q.getC(), 0));
+	ASSERT(equal(q.getD(), 0));
+	// test float ctor
+	q = Quaternion(0, 1, 0, 0);
+	ASSERT(equal(q.getA(), 0));
+	ASSERT(equal(q.getB(), 1));
+	ASSERT(equal(q.getC(), 0));
+	ASSERT(equal(q.getD(), 0));
+	// test euler ctor
+	q = Quaternion(EulerAngles(0, 0, 0));
+	ASSERT(equal(q.getA(), 1));
+	ASSERT(equal(q.getB(), 0));
+	ASSERT(equal(q.getC(), 0));
+	ASSERT(equal(q.getD(), 0));
+	// test dcm ctor
+	q = Quaternion(Dcm());
+	ASSERT(equal(q.getA(), 1));
+	ASSERT(equal(q.getB(), 0));
+	ASSERT(equal(q.getC(), 0));
+	ASSERT(equal(q.getD(), 0));
+	// TODO test derivative
+	// test accessors
+	q.setA(0.1);
+	q.setB(0.2);
+	q.setC(0.3);
+	q.setD(0.4);
+	ASSERT(equal(q.getA(), 0.1));
+	ASSERT(equal(q.getB(), 0.2));
+	ASSERT(equal(q.getC(), 0.3));
+	ASSERT(equal(q.getD(), 0.4));
+	printf("PASS\n");
+	return 0;
 }
 
 } // namespace math