Move the math library pieces out of systemlib into mathlib

25 files changed, 92 insertions, 49 deletions

diff --git a/apps/examples/math_demo/math_demo.cpp b/apps/examples/math_demo/math_demo.cpp
index 4df082877..0dc4b3750 100644
--- a/apps/examples/math_demo/math_demo.cpp
+++ b/apps/examples/math_demo/math_demo.cpp
@@ -43,12 +43,12 @@
 #include <stdlib.h>
 #include <string.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/math/Matrix.hpp>
-#include <systemlib/math/Quaternion.hpp>
-#include <systemlib/math/Vector3.hpp>
-#include <systemlib/math/Dcm.hpp>
-#include <systemlib/math/EulerAngles.hpp>
+#include <mathlib/math/Vector.hpp>
+#include <mathlib/math/Matrix.hpp>
+#include <mathlib/math/Quaternion.hpp>
+#include <mathlib/math/Vector3.hpp>
+#include <mathlib/math/Dcm.hpp>
+#include <mathlib/math/EulerAngles.hpp>
 
 /**
  * Management function.
diff --git a/apps/mathlib/Makefile b/apps/mathlib/Makefile
new file mode 100644
index 000000000..5c4861bbc
--- /dev/null
+++ b/apps/mathlib/Makefile
@@ -0,0 +1,71 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# System math library
+#
+
+CXXSRCS		 = math/test/test.cpp \
+		   math/Vector.cpp \
+		   math/Vector3.cpp \
+		   math/EulerAngles.cpp \
+		   math/Quaternion.cpp \
+		   math/Dcm.cpp \
+		   math/Matrix.cpp
+
+CXXHDRS		 = math/test/test.hpp \
+		   math/Vector.hpp \
+		   math/Vector3.hpp \
+		   math/EulerAngles.hpp \
+		   math/Quaternion.hpp \
+		   math/Dcm.hpp \
+		   math/Matrix.hpp
+
+#
+# XXX this really should be a CONFIG_* test
+#
+ifeq ($(TARGET),px4fmu)
+INCLUDES	+= math/arm
+CXXSRCS		+= math/arm/Vector.cpp \
+		   math/arm/Matrix.cpp
+CXXHDRS		+= math/arm/Vector.hpp \
+		   math/arm/Matrix.hpp
+else
+INCLUDES	+= math/generic
+CXXSRCS		+= math/generic/Vector.cpp \
+		   math/generic/Matrix.cpp
+CXXHDRS		+= math/generic/Vector.hpp \
+		   math/generic/Matrix.hpp
+endif
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp
index b9f4309cc..4c2067aff 100644
--- a/apps/systemlib/math/Dcm.cpp
+++ b/apps/mathlib/math/Dcm.cpp
@@ -37,7 +37,7 @@
  * math direction cosine matrix
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "Dcm.hpp"
 #include "Quaternion.hpp"
diff --git a/apps/systemlib/math/Dcm.hpp b/apps/mathlib/math/Dcm.hpp
index de69a7aa4..de69a7aa4 100644
--- a/apps/systemlib/math/Dcm.hpp
+++ b/apps/mathlib/math/Dcm.hpp
diff --git a/apps/systemlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp
index 259c866c7..b6c1a0669 100644
--- a/apps/systemlib/math/EulerAngles.cpp
+++ b/apps/mathlib/math/EulerAngles.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "EulerAngles.hpp"
 #include "Quaternion.hpp"
diff --git a/apps/systemlib/math/EulerAngles.hpp b/apps/mathlib/math/EulerAngles.hpp
index 399eecfa7..399eecfa7 100644
--- a/apps/systemlib/math/EulerAngles.hpp
+++ b/apps/mathlib/math/EulerAngles.hpp
diff --git a/apps/systemlib/math/Matrix.cpp b/apps/mathlib/math/Matrix.cpp
index 5e536c3a8..ebd1aeda3 100644
--- a/apps/systemlib/math/Matrix.cpp
+++ b/apps/mathlib/math/Matrix.cpp
@@ -37,7 +37,7 @@
  * matrix code
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 #include <math.h>
 
 #include "Matrix.hpp"
diff --git a/apps/systemlib/math/Matrix.hpp b/apps/mathlib/math/Matrix.hpp
index 4d7731653..4d7731653 100644
--- a/apps/systemlib/math/Matrix.hpp
+++ b/apps/mathlib/math/Matrix.hpp
diff --git a/apps/systemlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp
index 12ae72c0e..7c4b0593a 100644
--- a/apps/systemlib/math/Quaternion.cpp
+++ b/apps/mathlib/math/Quaternion.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 
 #include "Quaternion.hpp"
diff --git a/apps/systemlib/math/Quaternion.hpp b/apps/mathlib/math/Quaternion.hpp
index 4b4e959d8..4b4e959d8 100644
--- a/apps/systemlib/math/Quaternion.hpp
+++ b/apps/mathlib/math/Quaternion.hpp
diff --git a/apps/systemlib/math/Vector.cpp b/apps/mathlib/math/Vector.cpp
index c039a758b..35158a396 100644
--- a/apps/systemlib/math/Vector.cpp
+++ b/apps/mathlib/math/Vector.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "Vector.hpp"
 
diff --git a/apps/systemlib/math/Vector.hpp b/apps/mathlib/math/Vector.hpp
index 773bd5032..773bd5032 100644
--- a/apps/systemlib/math/Vector.hpp
+++ b/apps/mathlib/math/Vector.hpp
diff --git a/apps/systemlib/math/Vector3.cpp b/apps/mathlib/math/Vector3.cpp
index edba663cb..61fcc442f 100644
--- a/apps/systemlib/math/Vector3.cpp
+++ b/apps/mathlib/math/Vector3.cpp
@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "Vector3.hpp"
 
diff --git a/apps/systemlib/math/Vector3.hpp b/apps/mathlib/math/Vector3.hpp
index 8c36ac134..8c36ac134 100644
--- a/apps/systemlib/math/Vector3.hpp
+++ b/apps/mathlib/math/Vector3.hpp
diff --git a/apps/systemlib/math/arm/Matrix.cpp b/apps/mathlib/math/arm/Matrix.cpp
index 21661622a..21661622a 100644
--- a/apps/systemlib/math/arm/Matrix.cpp
+++ b/apps/mathlib/math/arm/Matrix.cpp
diff --git a/apps/systemlib/math/arm/Matrix.hpp b/apps/mathlib/math/arm/Matrix.hpp
index a95b5a2b0..63d755649 100644
--- a/apps/systemlib/math/arm/Matrix.hpp
+++ b/apps/mathlib/math/arm/Matrix.hpp
@@ -47,8 +47,8 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/math/Matrix.hpp>
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
 
 // arm specific
 #include "arm_math.h"
diff --git a/apps/systemlib/math/arm/Vector.cpp b/apps/mathlib/math/arm/Vector.cpp
index 7ea6496bb..7ea6496bb 100644
--- a/apps/systemlib/math/arm/Vector.cpp
+++ b/apps/mathlib/math/arm/Vector.cpp
diff --git a/apps/systemlib/math/arm/Vector.hpp b/apps/mathlib/math/arm/Vector.hpp
index c1e13f29a..e1f1838e7 100644
--- a/apps/systemlib/math/arm/Vector.hpp
+++ b/apps/mathlib/math/arm/Vector.hpp
@@ -46,8 +46,8 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/test/test.hpp>
+#include "../Vector.hpp"
+#include "../test/test.hpp"
 
 // arm specific
 #include "arm_math.h"
diff --git a/apps/systemlib/math/generic/Matrix.cpp b/apps/mathlib/math/generic/Matrix.cpp
index 21661622a..21661622a 100644
--- a/apps/systemlib/math/generic/Matrix.cpp
+++ b/apps/mathlib/math/generic/Matrix.cpp
diff --git a/apps/systemlib/math/generic/Matrix.hpp b/apps/mathlib/math/generic/Matrix.hpp
index d10208a1e..5601a3447 100644
--- a/apps/systemlib/math/generic/Matrix.hpp
+++ b/apps/mathlib/math/generic/Matrix.hpp
@@ -47,8 +47,8 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/math/Matrix.hpp>
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
 
 namespace math
 {
diff --git a/apps/systemlib/math/generic/Vector.cpp b/apps/mathlib/math/generic/Vector.cpp
index 7ea6496bb..7ea6496bb 100644
--- a/apps/systemlib/math/generic/Vector.cpp
+++ b/apps/mathlib/math/generic/Vector.cpp
diff --git a/apps/systemlib/math/generic/Vector.hpp b/apps/mathlib/math/generic/Vector.hpp
index 01cfa8bc0..1a7363779 100644
--- a/apps/systemlib/math/generic/Vector.hpp
+++ b/apps/mathlib/math/generic/Vector.hpp
@@ -46,7 +46,7 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
+#include "../Vector.hpp"
 
 namespace math
 {
diff --git a/apps/systemlib/test/test.cpp b/apps/mathlib/math/test/test.cpp
index f5db76d70..f5db76d70 100644
--- a/apps/systemlib/test/test.cpp
+++ b/apps/mathlib/math/test/test.cpp
diff --git a/apps/systemlib/test/test.hpp b/apps/mathlib/math/test/test.hpp
index 841c42144..841c42144 100644
--- a/apps/systemlib/test/test.hpp
+++ b/apps/mathlib/math/test/test.hpp
diff --git a/apps/systemlib/Makefile b/apps/systemlib/Makefile
index b3e7f6ac9..942116faa 100644
--- a/apps/systemlib/Makefile
+++ b/apps/systemlib/Makefile
@@ -47,41 +47,13 @@ CSRCS		 = err.c \
 
 #		   ppm_decode.c \
 
-
-CXXSRCS   =  test/test.cpp \
-			 math/Vector.cpp \
-			 math/Vector3.cpp \
-			 math/EulerAngles.cpp \
-			 math/Quaternion.cpp \
-			 math/Dcm.cpp \
-			 math/Matrix.cpp
-
-CXXHDRS   =  test/test.hpp \
-			 math/Vector.hpp \
-			 math/Vector3.hpp \
-			 math/EulerAngles.hpp \
-			 math/Quaternion.hpp \
-			 math/Dcm.hpp \
-			 math/Matrix.hpp
-
 #
 # XXX this really should be a CONFIG_* test
 #
 ifeq ($(TARGET),px4fmu)
-INCLUDES += math/arm
 CSRCS		+= systemlib.c \
-		pid/pid.c \
-		geo/geo.c
-CXXSRCS     += math/arm/Vector.cpp \
-		math/arm/Matrix.cpp
-CXXHDRS     += math/arm/Vector.hpp \
-	    math/arm/Matrix.hpp
-else
-INCLUDES += math/generic
-CXXSRCS     += math/generic/Vector.cpp \
-		math/generic/Matrix.cpp
-CXXHDRS     += math/generic/Vector.hpp \
-	    math/generic/Matrix.hpp
+		   pid/pid.c \
+		   geo/geo.c
 endif
 
 include $(APPDIR)/mk/app.mk