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uncrustify libraries/AP_Math/matrix3.cpp

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uncrustify 2012-08-16 23:20:14 -07:00 committed by Pat Hickey
parent 64eaadb332
commit d6e803fd3c
1 changed files with 68 additions and 68 deletions
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136
libraries/AP_Math/matrix3.cpp
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@ -21,7 +21,7 @@
#define HALF_SQRT_2 0.70710678118654757 #define HALF_SQRT_2 0.70710678118654757
#define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1) #define MATRIX_ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0,0, 1)
#define MATRIX_ROTATION_YAW_45 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1) #define MATRIX_ROTATION_YAW_45 Matrix3f(HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, HALF_SQRT_2, 0, 0, 0, 1)
#define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1) #define MATRIX_ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
#define MATRIX_ROTATION_YAW_135 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1) #define MATRIX_ROTATION_YAW_135 Matrix3f(-HALF_SQRT_2, -HALF_SQRT_2, 0, HALF_SQRT_2, -HALF_SQRT_2, 0, 0, 0, 1)
@ -45,53 +45,53 @@ void Matrix3<T>::rotation(enum Rotation r)
switch (r) { switch (r) {
case ROTATION_NONE: case ROTATION_NONE:
case ROTATION_MAX: case ROTATION_MAX:
*this = MATRIX_ROTATION_NONE; *this = MATRIX_ROTATION_NONE;
break; break;
case ROTATION_YAW_45: case ROTATION_YAW_45:
*this = MATRIX_ROTATION_YAW_45; *this = MATRIX_ROTATION_YAW_45;
break; break;
case ROTATION_YAW_90: case ROTATION_YAW_90:
*this = MATRIX_ROTATION_YAW_90; *this = MATRIX_ROTATION_YAW_90;
break; break;
case ROTATION_YAW_135: case ROTATION_YAW_135:
*this = MATRIX_ROTATION_YAW_135; *this = MATRIX_ROTATION_YAW_135;
break; break;
case ROTATION_YAW_180: case ROTATION_YAW_180:
*this = MATRIX_ROTATION_YAW_180; *this = MATRIX_ROTATION_YAW_180;
break; break;
case ROTATION_YAW_225: case ROTATION_YAW_225:
*this = MATRIX_ROTATION_YAW_225; *this = MATRIX_ROTATION_YAW_225;
break; break;
case ROTATION_YAW_270: case ROTATION_YAW_270:
*this = MATRIX_ROTATION_YAW_270; *this = MATRIX_ROTATION_YAW_270;
break; break;
case ROTATION_YAW_315: case ROTATION_YAW_315:
*this = MATRIX_ROTATION_YAW_315; *this = MATRIX_ROTATION_YAW_315;
break; break;
case ROTATION_ROLL_180: case ROTATION_ROLL_180:
*this = MATRIX_ROTATION_ROLL_180; *this = MATRIX_ROTATION_ROLL_180;
break; break;
case ROTATION_ROLL_180_YAW_45: case ROTATION_ROLL_180_YAW_45:
*this = MATRIX_ROTATION_ROLL_180_YAW_45; *this = MATRIX_ROTATION_ROLL_180_YAW_45;
break; break;
case ROTATION_ROLL_180_YAW_90: case ROTATION_ROLL_180_YAW_90:
*this = MATRIX_ROTATION_ROLL_180_YAW_90; *this = MATRIX_ROTATION_ROLL_180_YAW_90;
break; break;
case ROTATION_ROLL_180_YAW_135: case ROTATION_ROLL_180_YAW_135:
*this = MATRIX_ROTATION_ROLL_180_YAW_135; *this = MATRIX_ROTATION_ROLL_180_YAW_135;
break; break;
case ROTATION_PITCH_180: case ROTATION_PITCH_180:
*this = MATRIX_ROTATION_PITCH_180; *this = MATRIX_ROTATION_PITCH_180;
break; break;
case ROTATION_ROLL_180_YAW_225: case ROTATION_ROLL_180_YAW_225:
*this = MATRIX_ROTATION_ROLL_180_YAW_225; *this = MATRIX_ROTATION_ROLL_180_YAW_225;
break; break;
case ROTATION_ROLL_180_YAW_270: case ROTATION_ROLL_180_YAW_270:
*this = MATRIX_ROTATION_ROLL_180_YAW_270; *this = MATRIX_ROTATION_ROLL_180_YAW_270;
break; break;
case ROTATION_ROLL_180_YAW_315: case ROTATION_ROLL_180_YAW_315:
*this = MATRIX_ROTATION_ROLL_180_YAW_315; *this = MATRIX_ROTATION_ROLL_180_YAW_315;
break; break;
} }
} }
@ -100,22 +100,22 @@ void Matrix3<T>::rotation(enum Rotation r)
template <typename T> template <typename T>
void Matrix3<T>::from_euler(float roll, float pitch, float yaw) void Matrix3<T>::from_euler(float roll, float pitch, float yaw)
{ {
float cp = cos(pitch); float cp = cos(pitch);
float sp = sin(pitch); float sp = sin(pitch);
float sr = sin(roll); float sr = sin(roll);
float cr = cos(roll); float cr = cos(roll);
float sy = sin(yaw); float sy = sin(yaw);
float cy = cos(yaw); float cy = cos(yaw);
a.x = cp * cy; a.x = cp * cy;
a.y = (sr * sp * cy) - (cr * sy); a.y = (sr * sp * cy) - (cr * sy);
a.z = (cr * sp * cy) + (sr * sy); a.z = (cr * sp * cy) + (sr * sy);
b.x = cp * sy; b.x = cp * sy;
b.y = (sr * sp * sy) + (cr * cy); b.y = (sr * sp * sy) + (cr * cy);
b.z = (cr * sp * sy) - (sr * cy); b.z = (cr * sp * sy) - (sr * cy);
c.x = -sp; c.x = -sp;
c.y = sr * cp; c.y = sr * cp;
c.z = cr * cp; c.z = cr * cp;
} }
// calculate euler angles from a rotation matrix // calculate euler angles from a rotation matrix
@ -123,15 +123,15 @@ void Matrix3<T>::from_euler(float roll, float pitch, float yaw)
template <typename T> template <typename T>
void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw) void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw)
{ {
if (pitch != NULL) { if (pitch != NULL) {
*pitch = -safe_asin(c.x); *pitch = -safe_asin(c.x);
} }
if (roll != NULL) { if (roll != NULL) {
*roll = atan2(c.y, c.z); *roll = atan2(c.y, c.z);
} }
if (yaw != NULL) { if (yaw != NULL) {
*yaw = atan2(b.x, a.x); *yaw = atan2(b.x, a.x);
} }
} }
// apply an additional rotation from a body frame gyro vector // apply an additional rotation from a body frame gyro vector
@ -139,18 +139,18 @@ void Matrix3<T>::to_euler(float *roll, float *pitch, float *yaw)
template <typename T> template <typename T>
void Matrix3<T>::rotate(const Vector3<T> &g) void Matrix3<T>::rotate(const Vector3<T> &g)
{ {
Matrix3f temp_matrix; Matrix3f temp_matrix;
temp_matrix.a.x = a.y * g.z - a.z * g.y; temp_matrix.a.x = a.y * g.z - a.z * g.y;
temp_matrix.a.y = a.z * g.x - a.x * g.z; temp_matrix.a.y = a.z * g.x - a.x * g.z;
temp_matrix.a.z = a.x * g.y - a.y * g.x; temp_matrix.a.z = a.x * g.y - a.y * g.x;
temp_matrix.b.x = b.y * g.z - b.z * g.y; temp_matrix.b.x = b.y * g.z - b.z * g.y;
temp_matrix.b.y = b.z * g.x - b.x * g.z; temp_matrix.b.y = b.z * g.x - b.x * g.z;
temp_matrix.b.z = b.x * g.y - b.y * g.x; temp_matrix.b.z = b.x * g.y - b.y * g.x;
temp_matrix.c.x = c.y * g.z - c.z * g.y; temp_matrix.c.x = c.y * g.z - c.z * g.y;
temp_matrix.c.y = c.z * g.x - c.x * g.z; temp_matrix.c.y = c.z * g.x - c.x * g.z;
temp_matrix.c.z = c.x * g.y - c.y * g.x; temp_matrix.c.z = c.x * g.y - c.y * g.x;
(*this) += temp_matrix; (*this) += temp_matrix;
} }