From 88102d82db970a6ca878a32aa78812e7ae67fc5d Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 21 Dec 2023 16:56:30 +0100
Subject: [PATCH] matrix: return value simplifications

---
 src/lib/matrix/matrix/Dcm.hpp          | 10 ++--------
 src/lib/matrix/matrix/Dcm2.hpp         |  6 +++---
 src/lib/matrix/matrix/Matrix.hpp       |  4 ++--
 src/lib/matrix/matrix/SquareMatrix.hpp |  4 ++--
 src/lib/matrix/matrix/Vector3.hpp      | 18 ++----------------
 5 files changed, 11 insertions(+), 31 deletions(-)

diff --git a/src/lib/matrix/matrix/Dcm.hpp b/src/lib/matrix/matrix/Dcm.hpp
index a96ad85068..e05da5cbf3 100644
--- a/src/lib/matrix/matrix/Dcm.hpp
+++ b/src/lib/matrix/matrix/Dcm.hpp
@@ -40,8 +40,6 @@ template<typename Type>
 class Dcm : public SquareMatrix<Type, 3>
 {
 public:
-	using Vector3 = Matrix<Type, 3, 1>;
-
 	/**
 	 * Standard constructor
 	 *
@@ -159,14 +157,10 @@ public:
 		dcm = Quaternion<Type>(aa);
 	}
 
-	Vector<Type, 3> vee() const      // inverse to Vector.hat() operation
+	Vector3<Type> vee() const // inverse to Vector.hat() operation
 	{
 		const Dcm &A(*this);
-		Vector<Type, 3> v;
-		v(0) = -A(1, 2);
-		v(1) =  A(0, 2);
-		v(2) = -A(0, 1);
-		return v;
+		return {-A(1, 2), A(0, 2), -A(0, 1)};
 	}
 
 	void renormalize()
diff --git a/src/lib/matrix/matrix/Dcm2.hpp b/src/lib/matrix/matrix/Dcm2.hpp
index d1682643ee..e74ea48b3e 100644
--- a/src/lib/matrix/matrix/Dcm2.hpp
+++ b/src/lib/matrix/matrix/Dcm2.hpp
@@ -114,10 +114,10 @@ public:
 
 	void renormalize()
 	{
-		/* renormalize rows */
+		// renormalize rows
 		for (size_t r = 0; r < 2; r++) {
-			matrix::Vector2<Type> rvec(Matrix<Type, 1, 2>(this->Matrix<Type, 2, 2>::row(r)).transpose());
-			this->Matrix<Type, 2, 2>::row(r) = rvec.normalized();
+			Vector2<Type> rvec(Matrix<Type, 1, 2>(this->row(r)).transpose());
+			this->row(r) = rvec.normalized();
 		}
 	}
 };
diff --git a/src/lib/matrix/matrix/Matrix.hpp b/src/lib/matrix/matrix/Matrix.hpp
index b56c96c379..d3b97765d6 100644
--- a/src/lib/matrix/matrix/Matrix.hpp
+++ b/src/lib/matrix/matrix/Matrix.hpp
@@ -440,13 +440,13 @@ public:
 	template<size_t P, size_t Q>
 	const Slice<Type, P, Q, M, N> slice(size_t x0, size_t y0) const
 	{
-		return Slice<Type, P, Q, M, N>(x0, y0, this);
+		return {x0, y0, this};
 	}
 
 	template<size_t P, size_t Q>
 	Slice<Type, P, Q, M, N> slice(size_t x0, size_t y0)
 	{
-		return Slice<Type, P, Q, M, N>(x0, y0, this);
+		return {x0, y0, this};
 	}
 
 	const Slice<Type, 1, N, M, N> row(size_t i) const
diff --git a/src/lib/matrix/matrix/SquareMatrix.hpp b/src/lib/matrix/matrix/SquareMatrix.hpp
index e2e2084ae3..07ccd8cd67 100644
--- a/src/lib/matrix/matrix/SquareMatrix.hpp
+++ b/src/lib/matrix/matrix/SquareMatrix.hpp
@@ -57,13 +57,13 @@ public:
 	template<size_t P, size_t Q>
 	const Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0) const
 	{
-		return Slice<Type, P, Q, M, M>(x0, y0, this);
+		return {x0, y0, this};
 	}
 
 	template<size_t P, size_t Q>
 	Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0)
 	{
-		return Slice<Type, P, Q, M, M>(x0, y0, this);
+		return {x0, y0, this};
 	}
 
 	// inverse alias
diff --git a/src/lib/matrix/matrix/Vector3.hpp b/src/lib/matrix/matrix/Vector3.hpp
index b7247145c9..c901219bef 100644
--- a/src/lib/matrix/matrix/Vector3.hpp
+++ b/src/lib/matrix/matrix/Vector3.hpp
@@ -103,30 +103,16 @@ public:
 		return (*this).cross(b);
 	}
 
-	/**
-	 * Override vector ops so Vector3 type is returned
-	 */
-	inline Vector3 unit() const
-	{
-		return Vector3(Vector<Type, 3>::unit());
-	}
-
-	inline Vector3 normalized() const
-	{
-		return unit();
-	}
-
 	const Slice<Type, 2, 1, 3, 1> xy() const
 	{
-		return Slice<Type, 2, 1, 3, 1>(0, 0, this);
+		return {0, 0, this};
 	}
 
 	Slice<Type, 2, 1, 3, 1> xy()
 	{
-		return Slice<Type, 2, 1, 3, 1>(0, 0, this);
+		return {0, 0, this};
 	}
 
-
 	Dcm<Type> hat() const      // inverse to Dcm.vee() operation
 	{
 		const Vector3 &v(*this);