Use new Vector4 class

src/lib/matrix/matrix/Quaternion.hpp

@@ -50,7 +50,7 @@ class AxisAngle;
  * described by this class.
  */
 template<typename Type>
-class Quaternion : public Vector<Type, 4>
+class Quaternion : public Vector4<Type>
 {
 public:
 	using Matrix41 = Matrix<Type, 4, 1>;
@@ -62,7 +62,7 @@ public:
 	 * @param data_ array
 	 */
 	explicit Quaternion(const Type data_[4]) :
-		Vector<Type, 4>(data_)
+		Vector4<Type>(data_)
 	{
 	}
 
@@ -84,7 +84,7 @@ public:
 	 * @param other Matrix41 to copy
 	 */
 	Quaternion(const Matrix41 &other) :
-		Vector<Type, 4>(other)
+		Vector4<Type>(other)
 	{
 	}
 

src/lib/matrix/test/MatrixAttitudeTest.cpp

@@ -260,7 +260,7 @@ TEST(MatrixAttitudeTest, Attitude)
 
 	// quaterion copy ctors
 	float data_v4[] = {1, 2, 3, 4};
-	Vector<float, 4> v4(data_v4);
+	Vector4f v4(data_v4);
 	Quatf q_from_v(v4);
 	EXPECT_EQ(q_from_v, v4);
 
@@ -270,15 +270,13 @@ TEST(MatrixAttitudeTest, Attitude)
 
 	// quaternion derivative in frame 1
 	Quatf q1(0, 1, 0, 0);
-	Vector<float, 4> q1_dot1 = q1.derivative1(Vector3f(1, 2, 3));
-	float data_q_dot1_check[] = { -0.5f, 0.0f, -1.5f, 1.0f};
-	Vector<float, 4> q1_dot1_check(data_q_dot1_check);
+	Vector4f q1_dot1 = q1.derivative1(Vector3f(1, 2, 3));
+	Vector4f q1_dot1_check(-0.5f, 0.0f, -1.5f, 1.0f);
 	EXPECT_EQ(q1_dot1, q1_dot1_check);
 
 	// quaternion derivative in frame 2
-	Vector<float, 4> q1_dot2 = q1.derivative2(Vector3f(1, 2, 3));
-	float data_q_dot2_check[] = { -0.5f, 0.0f, 1.5f, -1.0f};
-	Vector<float, 4> q1_dot2_check(data_q_dot2_check);
+	Vector4f q1_dot2 = q1.derivative2(Vector3f(1, 2, 3));
+	Vector4f q1_dot2_check(-0.5f, 0.0f, 1.5f, -1.0f);
 	EXPECT_EQ(q1_dot2, q1_dot2_check);
 
 	// quaternion product

src/lib/matrix/test/MatrixLeastSquaresTest.cpp

@@ -50,19 +50,12 @@ TEST(MatrixLeastSquaresTest, 4x3)
 			  -1.f,  -1.1f,  -1.2f
 			 };
 	Matrix<float, 4, 3> A(data);
-
-	float b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
-	Vector<float, 4> b(b_data);
-
-	float x_check_data[3] = {-0.69168233f,
-				 -0.26227593f,
-				 -1.03767522f
-				};
-	Vector<float, 3> x_check(x_check_data);
+	Vector4f b(2.0f, 3.0f, 4.0f, 5.0f);
+	Vector3f x_check(-0.69168233f, -0.26227593f, -1.03767522f);
 
 	LeastSquaresSolver<float, 4, 3> qrd = LeastSquaresSolver<float, 4, 3>(A);
 
-	Vector<float, 3> x = qrd.solve(b);
+	Vector3f x = qrd.solve(b);
 	EXPECT_EQ(x, x_check);
 }
 
@@ -75,20 +68,12 @@ TEST(MatrixLeastSquaresTest, 4x4)
 				 -1.f,  -1.1f,  -1.2f,  -1.3f
 			       };
 	Matrix<float, 4, 4> A(data);
-
-	float b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
-	Vector<float, 4> b(b_data);
-
-	float x_check_data[4] = { 0.97893433f,
-				  -2.80798701f,
-				  -0.03175765f,
-				  -2.19387649f
-				};
-	Vector<float, 4> x_check(x_check_data);
+	Vector4f b(2.0f, 3.0f, 4.0f, 5.0f);
+	Vector4f x_check(0.97893433f, -2.80798701f, -0.03175765f, -2.19387649f);
 
 	LeastSquaresSolver<float, 4, 4> qrd = LeastSquaresSolver<float, 4, 4>(A);
 
-	Vector<float, 4> x = qrd.solve(b);
+	Vector4f x = qrd.solve(b);
 	EXPECT_EQ(x, x_check);
 }
 

src/lib/matrix/test/MatrixSparseVectorTest.cpp

@@ -92,11 +92,11 @@ TEST(MatrixSparseVectorTest, setZero)
 
 TEST(MatrixSparseVectorTest, additionWithDenseVector)
 {
-	Vector<float, 4> dense_vec;
+	Vector4f dense_vec;
 	dense_vec.setAll(1.f);
 	const float data[3] = {1.f, 2.f, 3.f};
 	const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
-	const Vector<float, 4> res = sparse_vec + dense_vec;
+	const Vector4f res = sparse_vec + dense_vec;
 	EXPECT_FLOAT_EQ(res(0), 1.f);
 	EXPECT_FLOAT_EQ(res(1), 2.f);
 	EXPECT_FLOAT_EQ(res(2), 3.f);
@@ -115,7 +115,7 @@ TEST(MatrixSparseVectorTest, addScalar)
 
 TEST(MatrixSparseVectorTest, dotProductWithDenseVector)
 {
-	Vector<float, 4> dense_vec;
+	Vector4f dense_vec;
 	dense_vec.setAll(3.f);
 	const float data[3] = {1.f, 2.f, 3.f};
 	const SparseVectorf<4, 1, 2, 3> sparse_vec(data);

src/lib/matrix/test/MatrixVector3Test.cpp

@@ -71,13 +71,7 @@ TEST(MatrixVector3Test, Vector3)
 
 	Vector3f h;
 	EXPECT_EQ(h, Vector3f(0, 0, 0));
-
-	Vector<float, 4> j;
-	j(0) = 1;
-	j(1) = 2;
-	j(2) = 3;
-	j(3) = 4;
-
+	Vector4f j(1.f, 2.f, 3.f, 4.f);
 	Vector3f k = j.slice<3, 1>(0, 0);
 	Vector3f k_test(1, 2, 3);
 	EXPECT_EQ(k, k_test);

src/lib/system_identification/arx_rls_test.cpp

@@ -61,9 +61,8 @@ TEST_F(ArxRlsTest, test211)
 	_rls.update(1, 2);
 	_rls.update(3, 4);
 	_rls.update(5, 6);
-	const Vector<float, 4> coefficients = _rls.getCoefficients();
-	float data_check[] = {-1.79f, 0.97f, 0.42f, -0.48f}; // generated from Python script
-	const Vector<float, 4> coefficients_check(data_check);
+	const Vector4f coefficients = _rls.getCoefficients();
+	const Vector4f coefficients_check(-1.79f, 0.97f, 0.42f, -0.48f); // generated from Python script
 	float eps = 1e-2;
 	EXPECT_TRUE((coefficients - coefficients_check).abs().max() < eps);
 }

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp

@@ -250,9 +250,9 @@ float EkfWrapper::getYawAngle() const
 	return euler(2);
 }
 
-matrix::Vector<float, 4> EkfWrapper::getQuaternionVariance() const
+matrix::Vector4f EkfWrapper::getQuaternionVariance() const
 {
-	return matrix::Vector<float, 4>(_ekf->orientation_covariances().diag());
+	return matrix::Vector4f(_ekf->orientation_covariances().diag());
 }
 
 int EkfWrapper::getQuaternionResetCounter() const

src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h

@@ -111,7 +111,7 @@ public:
 
 	Eulerf getEulerAngles() const;
 	float getYawAngle() const;
-	matrix::Vector<float, 4> getQuaternionVariance() const;
+	matrix::Vector4f getQuaternionVariance() const;
 	int getQuaternionResetCounter() const;
 
 	matrix::Vector3f getDeltaVelBiasVariance() const;

src/modules/ekf2/test/test_EKF_gps_yaw.cpp

@@ -331,9 +331,9 @@ TEST_F(EkfGpsHeadingTest, stopOnGround)
 	_ekf_wrapper.setMagFuseTypeNone();
 
 	// WHEN: running without yaw aiding
-	const matrix::Vector<float, 4> quat_variance_before = _ekf_wrapper.getQuaternionVariance();
+	const matrix::Vector4f quat_variance_before = _ekf_wrapper.getQuaternionVariance();
 	_sensor_simulator.runSeconds(20.0);
-	const matrix::Vector<float, 4> quat_variance_after = _ekf_wrapper.getQuaternionVariance();
+	const matrix::Vector4f quat_variance_after = _ekf_wrapper.getQuaternionVariance();
 
 	// THEN: the yaw variance is constrained by fusing constant data
 	EXPECT_LT(quat_variance_after(3), quat_variance_before(3));

src/modules/ekf2/test/test_EKF_initialization.cpp

@@ -83,7 +83,7 @@ public:
 
 	void quaternionVarianceBigEnoughAfterOrientationInitialization()
 	{
-		const matrix::Vector<float, 4> quat_variance = _ekf_wrapper.getQuaternionVariance();
+		const matrix::Vector4f quat_variance = _ekf_wrapper.getQuaternionVariance();
 		const float quat_variance_limit = 0.0001f;
 		EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1)" << quat_variance(1);
 		EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2)" << quat_variance(2);

src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp

@@ -59,8 +59,8 @@ public:
 	bool isAvailable() { return _input_available; };
 
 	// Position : 0 : pitch, 1 : roll, 2 : throttle, 3 : yaw
-	const matrix::Vector<float, 4> &getPosition() { return _positions; }; // Raw stick position, no deadzone
-	const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; }; // Deadzone and expo applied
+	const matrix::Vector4f &getPosition() { return _positions; }; // Raw stick position, no deadzone
+	const matrix::Vector4f &getPositionExpo() { return _positions_expo; }; // Deadzone and expo applied
 
 	// Helper functions to get stick values more intuitively
 	float getRoll() const { return _positions(1); }
@@ -90,8 +90,8 @@ public:
 
 private:
 	bool _input_available{false};
-	matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
-	matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
+	matrix::Vector4f _positions; ///< unmodified manual stick inputs
+	matrix::Vector4f _positions_expo; ///< modified manual sticks using expo function
 
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};

src/systemcmds/tests/test_matrix.cpp

@@ -233,7 +233,7 @@ bool MatrixTest::attitudeTests()
 
 	// quaterion copy ctors
 	float data_v4[] = {1, 2, 3, 4};
-	Vector<float, 4> v4(data_v4);
+	Vector4f v4(data_v4);
 	Quatf q_from_v(v4);
 	ut_test(isEqual(q_from_v, v4));
 
@@ -242,7 +242,7 @@ bool MatrixTest::attitudeTests()
 	ut_test(isEqual(q_from_m, m4));
 
 	// quaternion derivative
-	Vector<float, 4> q_dot = q.derivative1(Vector3f(1, 2, 3));
+	Vector4f q_dot = q.derivative1(Vector3f(1, 2, 3));
 	(void)q_dot;
 
 	// quaternion product