Reformat of math library with astyle.

1 files changed, 356 insertions, 366 deletions

diff --git a/apps/systemlib/math/generic/Matrix.hpp b/apps/systemlib/math/generic/Matrix.hpp
index fd6c8ba51..d10208a1e 100644
--- a/apps/systemlib/math/generic/Matrix.hpp
+++ b/apps/systemlib/math/generic/Matrix.hpp
@@ -53,395 +53,385 @@
 namespace math
 {
 
-class __EXPORT Matrix {
+class __EXPORT Matrix
+{
 public:
-    // constructor
-    Matrix(size_t rows, size_t cols) :
-        _rows(rows),
-        _cols(cols),
-        _data((float*)calloc(rows*cols,sizeof(float)))
-    {
-    }
-    Matrix(size_t rows, size_t cols, const float * data) :
-        _rows(rows),
-        _cols(cols),
-        _data((float*)malloc(getSize()))
-    {
-        memcpy(getData(),data,getSize());
-    }
-    // deconstructor
-    virtual ~Matrix()
-    {
-        delete [] getData();
-    }
-    // copy constructor (deep)
-    Matrix(const Matrix & right) :
-        _rows(right.getRows()),
-        _cols(right.getCols()),
-        _data((float*)malloc(getSize()))
-    {
-        memcpy(getData(),right.getData(),
-                    right.getSize());
-    }
-    // assignment
-    inline Matrix & operator=(const Matrix & right)
-    {
+	// constructor
+	Matrix(size_t rows, size_t cols) :
+		_rows(rows),
+		_cols(cols),
+		_data((float *)calloc(rows *cols, sizeof(float))) {
+	}
+	Matrix(size_t rows, size_t cols, const float *data) :
+		_rows(rows),
+		_cols(cols),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), data, getSize());
+	}
+	// deconstructor
+	virtual ~Matrix() {
+		delete [] getData();
+	}
+	// copy constructor (deep)
+	Matrix(const Matrix &right) :
+		_rows(right.getRows()),
+		_cols(right.getCols()),
+		_data((float *)malloc(getSize())) {
+		memcpy(getData(), right.getData(),
+		       right.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+(const float & right) const
-    {
-        Matrix result(getRows(), getCols());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i,j) = (*this)(i,j) + right;
-            }
-        }
-        return result;
-    }
-    inline Matrix operator-(const float & right) const
-    {
-        Matrix result(getRows(), getCols());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i,j) = (*this)(i,j) - right;
-            }
-        }
-        return result;
-    }
-    inline Matrix operator*(const float & right) const
-    {
-        Matrix result(getRows(), getCols());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i,j) = (*this)(i,j) * right;
-            }
-        }
-        return result;
-    }
-    inline Matrix operator/(const float & right) const
-    {
-        Matrix result(getRows(), getCols());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i,j) = (*this)(i,j) / right;
-            }
-        }
-        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+(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) + right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator-(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) - right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator*(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) * right;
+			}
+		}
+
+		return result;
+	}
+	inline Matrix operator/(const float &right) const {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) / right;
+			}
+		}
+
+		return result;
+	}
+	// vector ops
+	inline Vector operator*(const Vector &right) const {
 #ifdef MATRIX_ASSERT
-        ASSERT(getCols()==right.getRows());
+		ASSERT(getCols() == right.getRows());
 #endif
-        Vector result(getRows());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i) += (*this)(i,j) * right(j);
-            }
-        }
-        return result;
-    }
-    // matrix ops
-    inline Matrix operator+(const Matrix & right) const
-    {
+		Vector result(getRows());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i) += (*this)(i, j) * right(j);
+			}
+		}
+
+		return result;
+	}
+	// 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());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i,j) = (*this)(i,j) + right(i,j);
-            }
-        }
-        return result;
-    }
-    inline Matrix operator-(const Matrix & right) const
-    {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) + right(i, j);
+			}
+		}
+
+		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());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<getCols(); j++)
-            {
-                result(i,j) = (*this)(i,j) - right(i,j);
-            }
-        }
-        return result;
-    }
-    inline Matrix operator*(const Matrix & right) const
-    {
+		Matrix result(getRows(), getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(i, j) = (*this)(i, j) - right(i, j);
+			}
+		}
+
+		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());
-        for (size_t i=0; i<getRows(); i++)
-        {
-            for (size_t j=0; j<right.getCols(); j++)
-            {
-                for (size_t k=0; k<right.getRows(); k++)
-                {
-                    result(i,j) += (*this)(i,k) * right(k,j);
-                }
-            }
-        }
-        return result;
-    }
-    inline Matrix operator/(const Matrix & right) const
-    {
+		Matrix result(getRows(), right.getCols());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < right.getCols(); j++) {
+				for (size_t k = 0; k < right.getRows(); k++) {
+					result(i, j) += (*this)(i, k) * right(k, j);
+				}
+			}
+		}
+
+		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());
-        for(size_t i=0;i<getRows();i++) {
-            for(size_t j=0;j<getCols();j++) {
-                result(j,i) = (*this)(i,j);
-            }
-        }
-        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());
+
+		for (size_t i = 0; i < getRows(); i++) {
+			for (size_t j = 0; j < getCols(); j++) {
+				result(j, i) = (*this)(i, j);
+			}
+		}
+
+		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
-        size_t N = getRows();
-        Matrix L = identity(N);
-        const Matrix & A = (*this);
-        Matrix U = A;
-        Matrix P = identity(N);
-
-        //printf("A:\n"); A.print();
-
-        // for all diagonal elements
-        for (size_t n=0; n<N; n++) {
-
-            // if diagonal is zero, swap with row below
-            if (fabsf(U(n,n))<1e-8f) {
-                //printf("trying pivot for row %d\n",n);
-                for (size_t i=0; i<N; i++) {
-                    if (i==n) continue;
-                    //printf("\ttrying row %d\n",i);
-                    if (fabsf(U(i,n))>1e-8f) {
-                        //printf("swapped %d\n",i);
-                        U.swapRows(i,n);
-                        P.swapRows(i,n);
-                    }
-                }
-            }
+		size_t N = getRows();
+		Matrix L = identity(N);
+		const Matrix &A = (*this);
+		Matrix U = A;
+		Matrix P = identity(N);
+
+		//printf("A:\n"); A.print();
+
+		// for all diagonal elements
+		for (size_t n = 0; n < N; n++) {
+
+			// if diagonal is zero, swap with row below
+			if (fabsf(U(n, n)) < 1e-8f) {
+				//printf("trying pivot for row %d\n",n);
+				for (size_t i = 0; i < N; i++) {
+					if (i == n) continue;
+
+					//printf("\ttrying row %d\n",i);
+					if (fabsf(U(i, n)) > 1e-8f) {
+						//printf("swapped %d\n",i);
+						U.swapRows(i, n);
+						P.swapRows(i, n);
+					}
+				}
+			}
+
 #ifdef MATRIX_ASSERT
-            //printf("A:\n"); A.print();
-            //printf("U:\n"); U.print();
-            //printf("P:\n"); P.print();
-            //fflush(stdout);
-            ASSERT(fabsf(U(n,n))>1e-8f);
+			//printf("A:\n"); A.print();
+			//printf("U:\n"); U.print();
+			//printf("P:\n"); P.print();
+			//fflush(stdout);
+			ASSERT(fabsf(U(n, n)) > 1e-8f);
 #endif
-            // failsafe, return zero matrix
-            if (fabsf(U(n,n))<1e-8f)
-            {
-                return Matrix::zero(n);
-            }
-
-            // for all rows below diagonal
-            for (size_t i=(n+1); i<N; i++) {
-                L(i,n) = U(i,n)/U(n,n);
-                // add i-th row and n-th row
-                // multiplied by: -a(i,n)/a(n,n)
-                for (size_t k=n; k<N; k++) {
-                    U(i,k) -= L(i,n) * U(n,k);       
-                }
-            }
-        }
-
-        //printf("L:\n"); L.print();
-        //printf("U:\n"); U.print();
-
-        // solve LY=P*I for Y by forward subst
-        Matrix Y = P;
-        // for all columns of Y
-        for (size_t c=0; c<N; c++) {
-            // for all rows of L
-            for (size_t i=0; i<N; i++) {
-                // for all columns of L
-                for (size_t j=0; j<i; j++) {
-                    // for all existing y
-                    // subtract the component they 
-                    // contribute to the solution
-                    Y(i,c) -= L(i,j)*Y(j,c); 
-                }
-                // divide by the factor 
-                // on current
-                // term to be solved
-                // Y(i,c) /= L(i,i);
-                // but L(i,i) = 1.0
-            }
-        }
-
-        //printf("Y:\n"); Y.print();
-
-        // solve Ux=y for x by back subst
-        Matrix X = Y;
-        // for all columns of X
-        for (size_t c=0; c<N; c++) {
-            // for all rows of U
-            for (size_t k=0; k<N; k++) {
-                // have to go in reverse order
-                size_t i = N-1-k; 
-                // for all columns of U
-                for (size_t j=i+1; j<N; j++) {
-                    // for all existing x
-                    // subtract the component they 
-                    // contribute to the solution
-                    X(i,c) -= U(i,j)*X(j,c); 
-                }
-                // divide by the factor 
-                // on current
-                // term to be solved
-                X(i,c) /= U(i,i);
-            }
-        }
-        //printf("X:\n"); X.print();
-        return X;
-    }
-    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 _rows; }
-    inline size_t getCols() const { return _cols; }
-    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;
-    }
+
+			// failsafe, return zero matrix
+			if (fabsf(U(n, n)) < 1e-8f) {
+				return Matrix::zero(n);
+			}
+
+			// for all rows below diagonal
+			for (size_t i = (n + 1); i < N; i++) {
+				L(i, n) = U(i, n) / U(n, n);
+
+				// add i-th row and n-th row
+				// multiplied by: -a(i,n)/a(n,n)
+				for (size_t k = n; k < N; k++) {
+					U(i, k) -= L(i, n) * U(n, k);
+				}
+			}
+		}
+
+		//printf("L:\n"); L.print();
+		//printf("U:\n"); U.print();
+
+		// solve LY=P*I for Y by forward subst
+		Matrix Y = P;
+
+		// for all columns of Y
+		for (size_t c = 0; c < N; c++) {
+			// for all rows of L
+			for (size_t i = 0; i < N; i++) {
+				// for all columns of L
+				for (size_t j = 0; j < i; j++) {
+					// for all existing y
+					// subtract the component they
+					// contribute to the solution
+					Y(i, c) -= L(i, j) * Y(j, c);
+				}
+
+				// divide by the factor
+				// on current
+				// term to be solved
+				// Y(i,c) /= L(i,i);
+				// but L(i,i) = 1.0
+			}
+		}
+
+		//printf("Y:\n"); Y.print();
+
+		// solve Ux=y for x by back subst
+		Matrix X = Y;
+
+		// for all columns of X
+		for (size_t c = 0; c < N; c++) {
+			// for all rows of U
+			for (size_t k = 0; k < N; k++) {
+				// have to go in reverse order
+				size_t i = N - 1 - k;
+
+				// for all columns of U
+				for (size_t j = i + 1; j < N; j++) {
+					// for all existing x
+					// subtract the component they
+					// contribute to the solution
+					X(i, c) -= U(i, j) * X(j, c);
+				}
+
+				// divide by the factor
+				// on current
+				// term to be solved
+				X(i, c) /= U(i, i);
+			}
+		}
+
+		//printf("X:\n"); X.print();
+		return X;
+	}
+	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 _rows; }
+	inline size_t getCols() const { return _cols; }
+	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 _data; }
-    inline const float * getData() const { return _data; }
-    inline void setData(float * data) { _data = data; }
+	inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
+	inline float *getData() { return _data; }
+	inline const float *getData() const { return _data; }
+	inline void setData(float *data) { _data = data; }
 private:
-    size_t _rows;
-    size_t _cols;
-    float * _data;
+	size_t _rows;
+	size_t _cols;
+	float *_data;
 };
 
 } // namespace math