In-place matrix packing

libuavcan/include/uavcan/marshal/array.hpp

@@ -648,6 +648,36 @@ public:
         packSquareMatrixImpl<const ScalarType*>(src_row_major);
     }
 
+    /**
+     * Fills this array as a packed square matrix in place.
+     */
+    void packSquareMatrix()
+    {
+        if (this->size() == MaxSize)
+        {
+            ValueType matrix[MaxSize];
+            for (unsigned i = 0; i < MaxSize; i++)
+            {
+                matrix[i] = this->at(i);
+            }
+            packSquareMatrix(matrix);
+        }
+        else if (this->size() == 0)
+        {
+            ; // Nothing to do - leave the matrix empty
+        }
+        else
+        {
+#if UAVCAN_EXCEPTIONS
+            throw std::out_of_range("uavcan::Array::packSquareMatrix()");
+#else
+            assert(0);
+            this->clear();
+#endif
+        }
+
+    }
+
     /**
      * Fills this array as a packed square matrix from any container that implements the methods begin() and size().
      */
@@ -683,6 +713,21 @@ public:
         unpackSquareMatrixImpl<ScalarType*>(dst_row_major);
     }
 
+    /**
+     * Reconstructs full matrix in place.
+     */
+    void unpackSquareMatrix()
+    {
+        ValueType matrix[MaxSize];
+        unpackSquareMatrix(matrix);
+
+        this->clear();
+        for (unsigned i = 0; i < MaxSize; i++)
+        {
+            this->push_back(matrix[i]);
+        }
+    }
+
     /**
      * Reconstructs full matrix, result will be saved into container that implements begin() and size().
      */

libuavcan/include/uavcan/util/templates.hpp

@@ -147,6 +147,12 @@ template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<36> { enum { Result = 6 }; }
 template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<49> { enum { Result = 7 }; };
 template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<64> { enum { Result = 8 }; };
 template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<81> { enum { Result = 9 }; };
+template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<100> { enum { Result = 10 }; };
+template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<121> { enum { Result = 11 }; };
+template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<144> { enum { Result = 12 }; };
+template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<169> { enum { Result = 13 }; };
+template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<196> { enum { Result = 14 }; };
+template <> struct UAVCAN_EXPORT CompileTimeIntSqrt<256> { enum { Result = 16 }; };
 
 /**
  * Replacement for std::copy(..)