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AP_Math: fix coding style

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- cleanup whitespace
  - function reorder
  - fix brace position
This commit is contained in:
Lucas De Marchi 2016-05-03 21:32:49 -03:00
parent 6f87195eb7
commit bd6e268122
1 changed files with 18 additions and 16 deletions
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34
libraries/AP_Math/AP_Math.h
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@ -48,19 +48,22 @@ template <class T>
float safe_sqrt(const T v); float safe_sqrt(const T v);
// return determinant of square matrix // return determinant of square matrix
float detnxn(const float C[], const uint8_t n); float detnxn(const float C[], const uint8_t n);
// Output inverted nxn matrix when returns true, otherwise matrix is Singular // Output inverted nxn matrix when returns true, otherwise matrix is Singular
bool inversenxn(const float x[], float y[], const uint8_t n); bool inversenxn(const float x[], float y[], const uint8_t n);
// invOut is an inverted 4x4 matrix when returns true, otherwise matrix is Singular // invOut is an inverted 4x4 matrix when returns true, otherwise matrix is Singular
bool inverse3x3(float m[], float invOut[]); bool inverse3x3(float m[], float invOut[]);
// invOut is an inverted 3x3 matrix when returns true, otherwise matrix is Singular // invOut is an inverted 3x3 matrix when returns true, otherwise matrix is Singular
bool inverse4x4(float m[],float invOut[]); bool inverse4x4(float m[],float invOut[]);
// matrix multiplication of two NxN matrices // matrix multiplication of two NxN matrices
float* mat_mul(float *A, float *B, uint8_t n); float *mat_mul(float *A, float *B, uint8_t n);
// matrix algebra
bool inverse(float x[], float y[], uint16_t dim);
/* /*
* Constrain an angle to be within the range: -180 to 180 degrees. The second * Constrain an angle to be within the range: -180 to 180 degrees. The second
@ -112,18 +115,16 @@ auto const constrain_float = &constrain_value<float>;
auto const constrain_int16 = &constrain_value<int16_t>; auto const constrain_int16 = &constrain_value<int16_t>;
auto const constrain_int32 = &constrain_value<int32_t>; auto const constrain_int32 = &constrain_value<int32_t>;
//matrix algebra
bool inverse(float x[], float y[], uint16_t dim);
// degrees -> radians // degrees -> radians
static inline float radians(float deg) { static inline float radians(float deg)
return deg * DEG_TO_RAD; {
return deg * DEG_TO_RAD;
} }
// radians -> degrees // radians -> degrees
static inline float degrees(float rad) { static inline float degrees(float rad)
return rad * RAD_TO_DEG; {
return rad * RAD_TO_DEG;
} }
template<class T> template<class T>
@ -153,12 +154,14 @@ float norm(const T first, const Params... parameters)
} }
template<typename A, typename B> template<typename A, typename B>
static inline auto MIN(const A &one, const B &two) -> decltype(one < two ? one : two) { static inline auto MIN(const A &one, const B &two) -> decltype(one < two ? one : two)
{
return one < two ? one : two; return one < two ? one : two;
} }
template<typename A, typename B> template<typename A, typename B>
static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one : two) { static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one : two)
{
return one > two ? one : two; return one > two ? one : two;
} }
@ -198,4 +201,3 @@ inline uint32_t usec_to_hz(uint32_t usec)
float linear_interpolate(float low_output, float high_output, float linear_interpolate(float low_output, float high_output,
float var_value, float var_value,
float var_low, float var_high); float var_low, float var_high);