From 80d90929930172dbcf8fdc42f174efffbdc3fc5e Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 9 Aug 2016 11:31:18 -0700
Subject: [PATCH] AP_Math: remove rotateXY and rotateXYinv

---
 libraries/AP_Math/matrix3.cpp | 42 -----------------------------------
 libraries/AP_Math/matrix3.h   |  8 -------
 2 files changed, 50 deletions(-)

diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp
index 20af4af216..a6ce6e64f6 100644
--- a/libraries/AP_Math/matrix3.cpp
+++ b/libraries/AP_Math/matrix3.cpp
@@ -116,44 +116,6 @@ void Matrix3<T>::rotate(const Vector3<T> &g)
     (*this) += temp_matrix;
 }
 
-// apply an additional rotation from a body frame gyro vector
-// to a rotation matrix.
-template <typename T>
-void Matrix3<T>::rotateXY(const Vector3<T> &g)
-{
-    Matrix3<T> temp_matrix;
-    temp_matrix.a.x = -a.z * g.y;
-    temp_matrix.a.y = a.z * g.x;
-    temp_matrix.a.z = a.x * g.y - a.y * g.x;
-    temp_matrix.b.x = -b.z * g.y;
-    temp_matrix.b.y = b.z * g.x;
-    temp_matrix.b.z = b.x * g.y - b.y * g.x;
-    temp_matrix.c.x = -c.z * g.y;
-    temp_matrix.c.y = c.z * g.x;
-    temp_matrix.c.z = c.x * g.y - c.y * g.x;
-
-    (*this) += temp_matrix;
-}
-
-// apply an additional inverse rotation to a rotation matrix but 
-// only use X, Y elements from rotation vector
-template <typename T>
-void Matrix3<T>::rotateXYinv(const Vector3<T> &g)
-{
-    Matrix3<T> temp_matrix;
-    temp_matrix.a.x =   a.z * g.y;
-    temp_matrix.a.y = - a.z * g.x;
-    temp_matrix.a.z = - a.x * g.y + a.y * g.x;
-    temp_matrix.b.x =   b.z * g.y;
-    temp_matrix.b.y = - b.z * g.x;
-    temp_matrix.b.z = - b.x * g.y + b.y * g.x;
-    temp_matrix.c.x =   c.z * g.y;
-    temp_matrix.c.y = - c.z * g.x;
-    temp_matrix.c.z = - c.x * g.y + c.y * g.x;
-
-    (*this) += temp_matrix;
-}
-
 /*
   re-normalise a rotation matrix
 */
@@ -296,8 +258,6 @@ void Matrix3<T>::from_axis_angle(const Vector3<T> &v, float theta)
 // only define for float
 template void Matrix3<float>::zero(void);
 template void Matrix3<float>::rotate(const Vector3<float> &g);
-template void Matrix3<float>::rotateXY(const Vector3<float> &g);
-template void Matrix3<float>::rotateXYinv(const Vector3<float> &g);
 template void Matrix3<float>::normalize(void);
 template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
 template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw) const;
@@ -315,8 +275,6 @@ template Vector2<float> Matrix3<float>::mulXY(const Vector3<float> &v) const;
 
 template void Matrix3<double>::zero(void);
 template void Matrix3<double>::rotate(const Vector3<double> &g);
-template void Matrix3<double>::rotateXY(const Vector3<double> &g);
-template void Matrix3<double>::rotateXYinv(const Vector3<double> &g);
 template void Matrix3<double>::from_euler(float roll, float pitch, float yaw);
 template void Matrix3<double>::to_euler(float *roll, float *pitch, float *yaw) const;
 template Vector3<double> Matrix3<double>::operator *(const Vector3<double> &v) const;
diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index cb20322a44..2009f7da85 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -252,14 +252,6 @@ public:
     // to a rotation matrix.
     void        rotate(const Vector3<T> &g);
 
-    // apply an additional rotation from a body frame gyro vector
-    // to a rotation matrix but only use X, Y elements from gyro vector
-    void        rotateXY(const Vector3<T> &g);
-
-    // apply an additional inverse rotation to a rotation matrix but 
-    // only use X, Y elements from rotation vector
-    void        rotateXYinv(const Vector3<T> &g);
-
     // create rotation matrix for rotation about the vector v by angle theta
     // See: https://en.wikipedia.org/wiki/Rotation_matrix#General_rotations
     // "Rotation matrix from axis and angle"