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matrix: return value simplifications

This commit is contained in:
Matthias Grob 2023-12-21 16:56:30 +01:00 committed by Daniel Agar
parent 44a8c553fb
commit 88102d82db
5 changed files with 11 additions and 31 deletions
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10
src/lib/matrix/matrix/Dcm.hpp
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@ -40,8 +40,6 @@ template<typename Type>
class Dcm : public SquareMatrix<Type, 3> class Dcm : public SquareMatrix<Type, 3>
{ {
public: public:
using Vector3 = Matrix<Type, 3, 1>;
/** /**
* Standard constructor * Standard constructor
* *
@ -159,14 +157,10 @@ public:
dcm = Quaternion<Type>(aa); 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); const Dcm &A(*this);
Vector<Type, 3> v; return {-A(1, 2), A(0, 2), -A(0, 1)};
v(0) = -A(1, 2);
v(1) = A(0, 2);
v(2) = -A(0, 1);
return v;
} }
void renormalize() void renormalize()

6
src/lib/matrix/matrix/Dcm2.hpp
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@ -114,10 +114,10 @@ public:
void renormalize() void renormalize()
{ {
/* renormalize rows */ // renormalize rows
for (size_t r = 0; r < 2; r++) { for (size_t r = 0; r < 2; r++) {
matrix::Vector2<Type> rvec(Matrix<Type, 1, 2>(this->Matrix<Type, 2, 2>::row(r)).transpose()); Vector2<Type> rvec(Matrix<Type, 1, 2>(this->row(r)).transpose());
this->Matrix<Type, 2, 2>::row(r) = rvec.normalized(); this->row(r) = rvec.normalized();
} }
} }
}; };

4
src/lib/matrix/matrix/Matrix.hpp
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@ -440,13 +440,13 @@ public:
template<size_t P, size_t Q> template<size_t P, size_t Q>
const Slice<Type, P, Q, M, N> slice(size_t x0, size_t y0) const 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> template<size_t P, size_t Q>
Slice<Type, P, Q, M, N> slice(size_t x0, size_t y0) 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 const Slice<Type, 1, N, M, N> row(size_t i) const

4
src/lib/matrix/matrix/SquareMatrix.hpp
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@ -57,13 +57,13 @@ public:
template<size_t P, size_t Q> template<size_t P, size_t Q>
const Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0) const 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> template<size_t P, size_t Q>
Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0) 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 // inverse alias

18
src/lib/matrix/matrix/Vector3.hpp
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@ -103,30 +103,16 @@ public:
return (*this).cross(b); 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 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() 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 Dcm<Type> hat() const // inverse to Dcm.vee() operation
{ {
const Vector3 &v(*this); const Vector3 &v(*this);