Reformat of math library with astyle.

1 files changed, 210 insertions, 230 deletions

diff --git a/apps/systemlib/math/arm/Matrix.hpp b/apps/systemlib/math/arm/Matrix.hpp
index a94980872..a95b5a2b0 100644
--- a/apps/systemlib/math/arm/Matrix.hpp
+++ b/apps/systemlib/math/arm/Matrix.hpp
@@ -56,257 +56,237 @@
 namespace math
 {
 
-class __EXPORT Matrix {
+class __EXPORT Matrix
+{
 public:
-    // constructor
-    Matrix(size_t rows, size_t cols) :
-        _matrix()
-    {
-        arm_mat_init_f32(&_matrix,
-            rows, cols,
-            (float*)calloc(rows*cols,sizeof(float)));
-    }
-    Matrix(size_t rows, size_t cols, const float * data) :
-        _matrix()
-    {
-        arm_mat_init_f32(&_matrix,
-            rows, cols,
-            (float*)malloc(rows*cols*sizeof(float)));
-        memcpy(getData(),data,getSize());
-    }
-    // deconstructor
-    virtual ~Matrix()
-    {
-        delete [] _matrix.pData;
-    }
-    // copy constructor (deep)
-    Matrix(const Matrix & right) :
-        _matrix()
-    {
-        arm_mat_init_f32(&_matrix,
-            right.getRows(), right.getCols(),
-            (float*)malloc(right.getRows()*
-                right.getCols()*sizeof(float)));
-        memcpy(getData(),right.getData(),
-                getSize());
-    }
-    // assignment
-    inline Matrix & operator=(const Matrix & right)
-    {
+	// constructor
+	Matrix(size_t rows, size_t cols) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 rows, cols,
+				 (float *)calloc(rows * cols, sizeof(float)));
+	}
+	Matrix(size_t rows, size_t cols, const float *data) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 rows, cols,
+				 (float *)malloc(rows * cols * sizeof(float)));
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Matrix() {
+		delete [] _matrix.pData;
+	}
+	// copy constructor (deep)
+	Matrix(const Matrix &right) :
+		_matrix() {
+		arm_mat_init_f32(&_matrix,
+				 right.getRows(), right.getCols(),
+				 (float *)malloc(right.getRows()*
+						 right.getCols()*sizeof(float)));
+		memcpy(getData(), right.getData(),
+		       getSize());
+	}
+	// assignment
+	inline Matrix &operator=(const Matrix &right) {
 #ifdef MATRIX_ASSERT
-        ASSERT(getRows()==right.getRows());
-        ASSERT(getCols()==right.getCols());
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
 #endif
-        if (this != &right)
-        {
-            memcpy(getData(),right.getData(),
-                        right.getSize());
-        }
-        return *this;
-    }
-    // element accessors
-    inline float & operator()(size_t i, size_t j)
-    {
+
+		if (this != &right) {
+			memcpy(getData(), right.getData(),
+			       right.getSize());
+		}
+
+		return *this;
+	}
+	// element accessors
+	inline float &operator()(size_t i, size_t j) {
 #ifdef MATRIX_ASSERT
-        ASSERT(i<getRows());
-        ASSERT(j<getCols());
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
 #endif
-        return getData()[i*getCols() + j];
-    }
-    inline const float & operator()(size_t i, size_t j) const
-    {
+		return getData()[i * getCols() + j];
+	}
+	inline const float &operator()(size_t i, size_t j) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(i<getRows());
-        ASSERT(j<getCols());
+		ASSERT(i < getRows());
+		ASSERT(j < getCols());
 #endif
-        return getData()[i*getCols() + j];
-    }
-    // output
-    inline void print() const
-    {
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                float sig;
-                int exp;
-                float num = (*this)(i,j);
-                float2SigExp(num,sig,exp);
-                printf ("%6.3fe%03.3d,", (double)sig, exp);
-            }
-            printf("\n");
-        }
-    }
-    // boolean ops
-    inline bool operator==(const Matrix & right) const
-    {
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                if (fabsf((*this)(i,j)-right(i,j)) > 1e-30f)
-                    return false;
-            }
-        }
-        return true;
-    }
-    // scalar ops
-    inline Matrix operator+(float right) const
-    {
-        Matrix result(getRows(), getCols());
-        arm_offset_f32((float *)getData(),right,
-                (float *)result.getData(),getRows()*getCols());
-        return result;
-    }
-    inline Matrix operator-(float right) const
-    {
-        Matrix result(getRows(), getCols());
-        arm_offset_f32((float *)getData(),-right,
-                (float *)result.getData(),getRows()*getCols());
-        return result;
-    }
-    inline Matrix operator*(float right) const
-    {
-        Matrix result(getRows(), getCols());
-        arm_mat_scale_f32(&_matrix,right,
-                &(result._matrix));
-        return result;
-    }
-    inline Matrix operator/(float right) const
-    {
-        Matrix result(getRows(), getCols());
-        arm_mat_scale_f32(&_matrix,1.0f/right,
-                &(result._matrix));
-        return result;
-    }
-    // vector ops
-    inline Vector operator*(const Vector & right) const
-    {
+		return getData()[i * getCols() + j];
+	}
+	// output
+	inline void print() const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				float sig;
+				int exp;
+				float num = (*this)(i, j);
+				float2SigExp(num, sig, exp);
+				printf("%6.3fe%03.3d,", (double)sig, exp);
+			}
+
+			printf("\n");
+		}
+	}
+	// boolean ops
+	inline bool operator==(const Matrix &right) const {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
+					return false;
+			}
+		}
+
+		return true;
+	}
+	// scalar ops
+	inline Matrix operator+(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_offset_f32((float *)getData(), right,
+			       (float *)result.getData(), getRows()*getCols());
+		return result;
+	}
+	inline Matrix operator-(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_offset_f32((float *)getData(), -right,
+			       (float *)result.getData(), getRows()*getCols());
+		return result;
+	}
+	inline Matrix operator*(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_mat_scale_f32(&_matrix, right,
+				  &(result._matrix));
+		return result;
+	}
+	inline Matrix operator/(float right) const {
+		Matrix result(getRows(), getCols());
+		arm_mat_scale_f32(&_matrix, 1.0f / right,
+				  &(result._matrix));
+		return result;
+	}
+	// vector ops
+	inline Vector operator*(const Vector &right) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(getCols()==right.getRows());
+		ASSERT(getCols() == right.getRows());
 #endif
-        Matrix resultMat = (*this)*
-            Matrix(right.getRows(),1,right.getData());
-        return Vector(getRows(),resultMat.getData());
-    }
-    // matrix ops
-    inline Matrix operator+(const Matrix & right) const
-    {
+		Matrix resultMat = (*this) *
+				   Matrix(right.getRows(), 1, right.getData());
+		return Vector(getRows(), resultMat.getData());
+	}
+	// matrix ops
+	inline Matrix operator+(const Matrix &right) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(getRows()==right.getRows());
-        ASSERT(getCols()==right.getCols());
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
 #endif
-        Matrix result(getRows(), getCols());
-        arm_mat_add_f32(&_matrix, &(right._matrix),
-                &(result._matrix));
-        return result;
-    }
-    inline Matrix operator-(const Matrix & right) const
-    {
+		Matrix result(getRows(), getCols());
+		arm_mat_add_f32(&_matrix, &(right._matrix),
+				&(result._matrix));
+		return result;
+	}
+	inline Matrix operator-(const Matrix &right) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(getRows()==right.getRows());
-        ASSERT(getCols()==right.getCols());
+		ASSERT(getRows() == right.getRows());
+		ASSERT(getCols() == right.getCols());
 #endif
-        Matrix result(getRows(), getCols());
-        arm_mat_sub_f32(&_matrix, &(right._matrix),
-                &(result._matrix));
-        return result;
-    }
-    inline Matrix operator*(const Matrix & right) const
-    {
+		Matrix result(getRows(), getCols());
+		arm_mat_sub_f32(&_matrix, &(right._matrix),
+				&(result._matrix));
+		return result;
+	}
+	inline Matrix operator*(const Matrix &right) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(getCols()==right.getRows());
+		ASSERT(getCols() == right.getRows());
 #endif
-        Matrix result(getRows(), right.getCols());
-        arm_mat_mult_f32(&_matrix, &(right._matrix),
-                &(result._matrix));
-        return result;
-    }
-    inline Matrix operator/(const Matrix & right) const
-    {
+		Matrix result(getRows(), right.getCols());
+		arm_mat_mult_f32(&_matrix, &(right._matrix),
+				 &(result._matrix));
+		return result;
+	}
+	inline Matrix operator/(const Matrix &right) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(right.getRows()==right.getCols());
-        ASSERT(getCols()==right.getCols());
+		ASSERT(right.getRows() == right.getCols());
+		ASSERT(getCols() == right.getCols());
 #endif
-        return (*this)*right.inverse();
-    }
-    // other functions
-    inline Matrix transpose() const
-    {
-        Matrix result(getCols(),getRows());
-        arm_mat_trans_f32(&_matrix, &(result._matrix));
-        return result;
-    }
-    inline void swapRows(size_t a, size_t b)
-    {
-        if (a==b) return;
-        for(size_t j=0;j<getCols();j++) {
-            float tmp = (*this)(a,j);
-            (*this)(a,j) = (*this)(b,j);
-            (*this)(b,j) = tmp;
-        }
-    }
-    inline void swapCols(size_t a, size_t b)
-    {
-        if (a==b) return;
-        for(size_t i=0;i<getRows();i++) {
-            float tmp = (*this)(i,a);
-            (*this)(i,a) = (*this)(i,b);
-            (*this)(i,b) = tmp;
-        }
-    }
-    /**
-     * inverse based on LU factorization with partial pivotting
-     */
-    Matrix inverse() const
-    {
+		return (*this) * right.inverse();
+	}
+	// other functions
+	inline Matrix transpose() const {
+		Matrix result(getCols(), getRows());
+		arm_mat_trans_f32(&_matrix, &(result._matrix));
+		return result;
+	}
+	inline void swapRows(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t j = 0; j < getCols(); j++) {
+			float tmp = (*this)(a, j);
+			(*this)(a, j) = (*this)(b, j);
+			(*this)(b, j) = tmp;
+		}
+	}
+	inline void swapCols(size_t a, size_t b) {
+		if (a == b) return;
+
+		for (size_t i = 0; i < getRows(); i++) {
+			float tmp = (*this)(i, a);
+			(*this)(i, a) = (*this)(i, b);
+			(*this)(i, b) = tmp;
+		}
+	}
+	/**
+	 * inverse based on LU factorization with partial pivotting
+	 */
+	Matrix inverse() const {
 #ifdef MATRIX_ASSERT
-        ASSERT(getRows()==getCols());
+		ASSERT(getRows() == getCols());
 #endif
-        Matrix result(getRows(), getCols());
-        Matrix work = (*this);
-        arm_mat_inverse_f32(&(work._matrix),
-                &(result._matrix));
-        return result;
-    }
-    inline void setAll(const float & val)
-    {
-        for (size_t i=0;i<getRows();i++) {
-            for (size_t j=0;j<getCols();j++) {
-                (*this)(i,j) = val;
-            }
-        }
-    }
-    inline void set(const float * data)
-    {
-        memcpy(getData(),data,getSize());
-    }
-    inline size_t getRows() const { return _matrix.numRows; }
-    inline size_t getCols() const { return _matrix.numCols; }
-    inline static Matrix identity(size_t size) {
-        Matrix result(size,size);
-        for (size_t i=0; i<size; i++) {
-            result(i,i) = 1.0f; 
-        }
-        return result;
-    }
-    inline static Matrix zero(size_t size) {
-        Matrix result(size,size);
-        result.setAll(0.0f);
-        return result;
-    }
-    inline static Matrix zero(size_t m, size_t n) {
-        Matrix result(m,n);
-        result.setAll(0.0f);
-        return result;
-    }
+		Matrix result(getRows(), getCols());
+		Matrix work = (*this);
+		arm_mat_inverse_f32(&(work._matrix),
+				    &(result._matrix));
+		return result;
+	}
+	inline void setAll(const float &val) {
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				(*this)(i, j) = val;
+			}
+		}
+	}
+	inline void set(const float *data) {
+		memcpy(getData(), data, getSize());
+	}
+	inline size_t getRows() const { return _matrix.numRows; }
+	inline size_t getCols() const { return _matrix.numCols; }
+	inline static Matrix identity(size_t size) {
+		Matrix result(size, size);
+
+		for (size_t i = 0; i < size; i++) {
+			result(i, i) = 1.0f;
+		}
+
+		return result;
+	}
+	inline static Matrix zero(size_t size) {
+		Matrix result(size, size);
+		result.setAll(0.0f);
+		return result;
+	}
+	inline static Matrix zero(size_t m, size_t n) {
+		Matrix result(m, n);
+		result.setAll(0.0f);
+		return result;
+	}
 protected:
-    inline size_t getSize() const { return sizeof(float)*getRows()*getCols(); }
-    inline float * getData() { return _matrix.pData; }
-    inline const float * getData() const { return _matrix.pData; }
-    inline void setData(float * data) { _matrix.pData = data; }
+	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
+	inline float *getData() { return _matrix.pData; }
+	inline const float *getData() const { return _matrix.pData; }
+	inline void setData(float *data) { _matrix.pData = data; }
 private:
-    arm_matrix_instance_f32 _matrix;
+	arm_matrix_instance_f32 _matrix;
 };
 
 } // namespace math