mirror of https://github.com/ArduPilot/ardupilot
Some minor fixes prompted while looking at the code for other reasons.
Return non-const values from assignment. Fix operator* for matrix3. git-svn-id: https://arducopter.googlecode.com/svn/trunk@536 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -60,7 +60,7 @@ public:
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{ return (a!=m.a || b!=m.b || c!=m.c); }
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{ return (a!=m.a || b!=m.b || c!=m.c); }
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// set to value
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// set to value
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const Matrix3<T> &operator = (const Matrix3<T> &m)
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Matrix3<T> &operator = (const Matrix3<T> &m)
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{
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{
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a= m.a; b= m.b; c= m.c;
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a= m.a; b= m.b; c= m.c;
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return *this;
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return *this;
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@ -103,15 +103,15 @@ public:
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// multiplication by another Matrix3<T>
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// multiplication by another Matrix3<T>
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const Matrix3<T> operator *(const Matrix3<T> &m) const
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const Matrix3<T> operator *(const Matrix3<T> &m) const
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{
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{
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Matrix3<T> temp = (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
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Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
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a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
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a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
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a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
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a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
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Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
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Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
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b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
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b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
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b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
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b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
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Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
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Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
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c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
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c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
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c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
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c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
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return temp;
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return temp;
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}
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}
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const Matrix3<T> operator *=(const Matrix3<T> &m)
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const Matrix3<T> operator *=(const Matrix3<T> &m)
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@ -58,7 +58,7 @@ struct Vector2
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{ return (x!=v.x || y!=v.y); }
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{ return (x!=v.x || y!=v.y); }
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// set to value
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// set to value
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const Vector2<T> &operator =(const Vector2<T> &v)
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Vector2<T> &operator =(const Vector2<T> &v)
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{
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{
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x= v.x; y= v.y;
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x= v.x; y= v.y;
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return *this;
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return *this;
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@ -68,7 +68,7 @@ public:
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{ return (x!=v.x || y!=v.y || z!=v.z); }
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{ return (x!=v.x || y!=v.y || z!=v.z); }
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// set to value
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// set to value
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const Vector3<T> &operator =(const Vector3<T> &v)
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Vector3<T> &operator =(const Vector3<T> &v)
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{
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{
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x= v.x; y= v.y; z= v.z;
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x= v.x; y= v.y; z= v.z;
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return *this;
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return *this;
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