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applied fix_code_style.sh

This commit is contained in:
Roman Bapst 2014-11-13 11:16:22 +01:00
parent 794a89e711
commit 003b326c77
1 changed files with 64 additions and 49 deletions
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113
src/lib/mathlib/math/Matrix.hpp
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@ -51,10 +51,11 @@
#else
#include <math/eigen_math.h>
#include <Eigen/Eigen>
#define M_PI_2_F 1.5707963267948966192
#define M_PI_2_F 1.5707963267948966192f
#endif
namespace math {
namespace math
{
template<unsigned int M, unsigned int N>
class __EXPORT Matrix;
@ -83,9 +84,8 @@ public:
* Initializes the elements to zero.
*/
MatrixBase() :
data {},
arm_mat {M, N, &data[0][0]}
{
data {},
arm_mat {M, N, &data[0][0]} {
}
virtual ~MatrixBase() {};
@ -94,20 +94,17 @@ public:
* copyt ctor
*/
MatrixBase(const MatrixBase<M, N> &m) :
arm_mat {M, N, &data[0][0]}
{
arm_mat {M, N, &data[0][0]} {
memcpy(data, m.data, sizeof(data));
}
MatrixBase(const float *d) :
arm_mat {M, N, &data[0][0]}
{
arm_mat {M, N, &data[0][0]} {
memcpy(data, d, sizeof(data));
}
MatrixBase(const float d[M][N]) :
arm_mat {M, N, &data[0][0]}
{
arm_mat {M, N, &data[0][0]} {
memcpy(data, d, sizeof(data));
}
@ -158,9 +155,10 @@ public:
*/
bool operator ==(const Matrix<M, N> &m) const {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
return false;
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j]) {
return false;
}
return true;
}
@ -170,9 +168,10 @@ public:
*/
bool operator !=(const Matrix<M, N> &m) const {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
return true;
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j]) {
return true;
}
return false;
}
@ -192,8 +191,9 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
res.data[i][j] = -data[i][j];
for (unsigned int j = 0; j < M; j++) {
res.data[i][j] = -data[i][j];
}
return res;
}
@ -205,16 +205,18 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
res.data[i][j] = data[i][j] + m.data[i][j];
for (unsigned int j = 0; j < M; j++) {
res.data[i][j] = data[i][j] + m.data[i][j];
}
return res;
}
Matrix<M, N> &operator +=(const Matrix<M, N> &m) {
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
data[i][j] += m.data[i][j];
for (unsigned int j = 0; j < M; j++) {
data[i][j] += m.data[i][j];
}
return *static_cast<Matrix<M, N>*>(this);
}
@ -226,16 +228,18 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
res.data[i][j] = data[i][j] - m.data[i][j];
for (unsigned int j = 0; j < N; j++) {
res.data[i][j] = data[i][j] - m.data[i][j];
}
return res;
}
Matrix<M, N> &operator -=(const Matrix<M, N> &m) {
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
data[i][j] -= m.data[i][j];
for (unsigned int j = 0; j < M; j++) {
data[i][j] -= m.data[i][j];
}
return *static_cast<Matrix<M, N>*>(this);
}
@ -247,8 +251,9 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
res.data[i][j] = data[i][j] * num;
for (unsigned int j = 0; j < N; j++) {
res.data[i][j] = data[i][j] * num;
}
return res;
@ -256,8 +261,9 @@ public:
Matrix<M, N> &operator *=(const float num) {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
data[i][j] *= num;
for (unsigned int j = 0; j < N; j++) {
data[i][j] *= num;
}
return *static_cast<Matrix<M, N>*>(this);
}
@ -266,16 +272,18 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
res[i][j] = data[i][j] / num;
for (unsigned int j = 0; j < N; j++) {
res[i][j] = data[i][j] / num;
}
return res;
}
Matrix<M, N> &operator /=(const float num) {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
data[i][j] /= num;
for (unsigned int j = 0; j < N; j++) {
data[i][j] /= num;
}
return *static_cast<Matrix<M, N>*>(this);
}
@ -290,9 +298,11 @@ public:
arm_mat_mult_f32(&arm_mat, &m.arm_mat, &res.arm_mat);
return res;
#else
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::Matrix<float,N,P,Eigen::RowMajor> Him = Eigen::Map<Eigen::Matrix<float,N,P,Eigen::RowMajor> >(m.arm_mat.pData);
Eigen::Matrix<float,M,P,Eigen::RowMajor> Product = Me * Him;
Eigen::Matrix<float, M, N, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, M, N, Eigen::RowMajor> >
(this->arm_mat.pData);
Eigen::Matrix<float, N, P, Eigen::RowMajor> Him = Eigen::Map<Eigen::Matrix<float, N, P, Eigen::RowMajor> >
(m.arm_mat.pData);
Eigen::Matrix<float, M, P, Eigen::RowMajor> Product = Me * Him;
Matrix<M, P> res(Product.data());
return res;
#endif
@ -307,7 +317,8 @@ public:
arm_mat_trans_f32(&this->arm_mat, &res.arm_mat);
return res;
#else
Eigen::Matrix<float,N,M,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,N,M,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::Matrix<float, N, M, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, N, M, Eigen::RowMajor> >
(this->arm_mat.pData);
Me.transposeInPlace();
Matrix<N, M> res(Me.data());
return res;
@ -323,8 +334,9 @@ public:
arm_mat_inverse_f32(&this->arm_mat, &res.arm_mat);
return res;
#else
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::Matrix<float,M,N,Eigen::RowMajor> MyInverse = Me.inverse();//not sure if A = A.inverse() is a good idea
Eigen::Matrix<float, M, N, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, M, N, Eigen::RowMajor> >
(this->arm_mat.pData);
Eigen::Matrix<float, M, N, Eigen::RowMajor> MyInverse = Me.inverse(); //not sure if A = A.inverse() is a good idea
Matrix<M, N> res(MyInverse.data());
return res;
#endif
@ -344,16 +356,18 @@ public:
memset(data, 0, sizeof(data));
unsigned int n = (M < N) ? M : N;
for (unsigned int i = 0; i < n; i++)
data[i][i] = 1;
for (unsigned int i = 0; i < n; i++) {
data[i][i] = 1;
}
}
void print(void) {
for (unsigned int i = 0; i < M; i++) {
printf("[ ");
for (unsigned int j = 0; j < N; j++)
printf("%.3f\t", data[i][j]);
for (unsigned int j = 0; j < N; j++) {
printf("%.3f\t", data[i][j]);
}
printf(" ]\n");
}
@ -391,8 +405,9 @@ public:
arm_mat_mult_f32(&this->arm_mat, &v.arm_col, &res.arm_col);
#else
//probably nicer if this could go into a function like "eigen_mat_mult" or so
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::VectorXf Vec = Eigen::Map<Eigen::VectorXf>(v.arm_col.pData,N);
Eigen::Matrix<float, M, N, Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float, M, N, Eigen::RowMajor> >
(this->arm_mat.pData);
Eigen::VectorXf Vec = Eigen::Map<Eigen::VectorXf>(v.arm_col.pData, N);
Eigen::VectorXf Product = Me * Vec;
Vector<M> res(Product.data());
#endif
@ -427,8 +442,8 @@ public:
*/
Vector<3> operator *(const Vector<3> &v) const {
Vector<3> res(data[0][0] * v.data[0] + data[0][1] * v.data[1] + data[0][2] * v.data[2],
data[1][0] * v.data[0] + data[1][1] * v.data[1] + data[1][2] * v.data[2],
data[2][0] * v.data[0] + data[2][1] * v.data[1] + data[2][2] * v.data[2]);
data[1][0] * v.data[0] + data[1][1] * v.data[1] + data[1][2] * v.data[2],
data[2][0] * v.data[0] + data[2][1] * v.data[1] + data[2][2] * v.data[2]);
return res;
}