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conversion lib: Update code style

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This commit is contained in:
Lorenz Meier
2015-10-19 13:51:47 +02:00
parent 752d091ecc
commit 2b8e981a7d
2 changed files with 180 additions and 151 deletions
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src/lib/conversion/rotation.cpp
+179 -150
View File
@@ -55,154 +55,183 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix)
__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{
float tmp;
switch (rot) {
case ROTATION_NONE:
case ROTATION_MAX:
return;
case ROTATION_YAW_45: {
tmp = HALF_SQRT_2*(x - y);
y = HALF_SQRT_2*(x + y);
x = tmp;
return;
}
case ROTATION_YAW_90: {
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_YAW_135: {
tmp = -HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(x - y);
x = tmp;
return;
}
case ROTATION_YAW_180:
x = -x; y = -y;
return;
case ROTATION_YAW_225: {
tmp = HALF_SQRT_2*(y - x);
y = -HALF_SQRT_2*(x + y);
x = tmp;
return;
}
case ROTATION_YAW_270: {
tmp = x; x = y; y = -tmp;
return;
}
case ROTATION_YAW_315: {
tmp = HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(y - x);
x = tmp;
return;
}
case ROTATION_ROLL_180: {
y = -y; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_45: {
tmp = HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(x - y);
x = tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_90: {
tmp = x; x = y; y = tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_135: {
tmp = HALF_SQRT_2*(y - x);
y = HALF_SQRT_2*(y + x);
x = tmp; z = -z;
return;
}
case ROTATION_PITCH_180: {
x = -x; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_225: {
tmp = -HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(y - x);
x = tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_270: {
tmp = x; x = -y; y = -tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_315: {
tmp = HALF_SQRT_2*(x - y);
y = -HALF_SQRT_2*(x + y);
x = tmp; z = -z;
return;
}
case ROTATION_ROLL_90: {
tmp = z; z = y; y = -tmp;
return;
}
case ROTATION_ROLL_90_YAW_45: {
tmp = z; z = y; y = -tmp;
tmp = HALF_SQRT_2*(x - y);
y = HALF_SQRT_2*(x + y);
x = tmp;
return;
}
case ROTATION_ROLL_90_YAW_90: {
tmp = z; z = y; y = -tmp;
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_ROLL_90_YAW_135: {
tmp = z; z = y; y = -tmp;
tmp = -HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(x - y);
x = tmp;
return;
}
case ROTATION_ROLL_270: {
tmp = z; z = -y; y = tmp;
return;
}
case ROTATION_ROLL_270_YAW_45: {
tmp = z; z = -y; y = tmp;
tmp = HALF_SQRT_2*(x - y);
y = HALF_SQRT_2*(x + y);
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_90: {
tmp = z; z = -y; y = tmp;
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_ROLL_270_YAW_135: {
tmp = z; z = -y; y = tmp;
tmp = -HALF_SQRT_2*(x + y);
y = HALF_SQRT_2*(x - y);
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_270: {
tmp = z; z = -y; y = tmp;
tmp = x; x = y; y = -tmp;
return;
}
case ROTATION_PITCH_90: {
tmp = z; z = -x; x = tmp;
return;
}
case ROTATION_PITCH_270: {
tmp = z; z = x; x = -tmp;
return;
}
case ROTATION_ROLL_180_PITCH_270: {
tmp = z; z = x; x = tmp;
y = -y;
return;
}
case ROTATION_PITCH_90_YAW_180: {
tmp = x; x = z; z = tmp;
y = -y;
return;
}
}
float tmp;
switch (rot) {
case ROTATION_NONE:
case ROTATION_MAX:
return;
case ROTATION_YAW_45: {
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case ROTATION_YAW_90: {
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_YAW_135: {
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return;
}
case ROTATION_YAW_180:
x = -x; y = -y;
return;
case ROTATION_YAW_225: {
tmp = HALF_SQRT_2 * (y - x);
y = -HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case ROTATION_YAW_270: {
tmp = x; x = y; y = -tmp;
return;
}
case ROTATION_YAW_315: {
tmp = HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (y - x);
x = tmp;
return;
}
case ROTATION_ROLL_180: {
y = -y; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_45: {
tmp = HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_90: {
tmp = x; x = y; y = tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_135: {
tmp = HALF_SQRT_2 * (y - x);
y = HALF_SQRT_2 * (y + x);
x = tmp; z = -z;
return;
}
case ROTATION_PITCH_180: {
x = -x; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_225: {
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (y - x);
x = tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_270: {
tmp = x; x = -y; y = -tmp; z = -z;
return;
}
case ROTATION_ROLL_180_YAW_315: {
tmp = HALF_SQRT_2 * (x - y);
y = -HALF_SQRT_2 * (x + y);
x = tmp; z = -z;
return;
}
case ROTATION_ROLL_90: {
tmp = z; z = y; y = -tmp;
return;
}
case ROTATION_ROLL_90_YAW_45: {
tmp = z; z = y; y = -tmp;
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case ROTATION_ROLL_90_YAW_90: {
tmp = z; z = y; y = -tmp;
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_ROLL_90_YAW_135: {
tmp = z; z = y; y = -tmp;
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return;
}
case ROTATION_ROLL_270: {
tmp = z; z = -y; y = tmp;
return;
}
case ROTATION_ROLL_270_YAW_45: {
tmp = z; z = -y; y = tmp;
tmp = HALF_SQRT_2 * (x - y);
y = HALF_SQRT_2 * (x + y);
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_90: {
tmp = z; z = -y; y = tmp;
tmp = x; x = -y; y = tmp;
return;
}
case ROTATION_ROLL_270_YAW_135: {
tmp = z; z = -y; y = tmp;
tmp = -HALF_SQRT_2 * (x + y);
y = HALF_SQRT_2 * (x - y);
x = tmp;
return;
}
case ROTATION_ROLL_270_YAW_270: {
tmp = z; z = -y; y = tmp;
tmp = x; x = y; y = -tmp;
return;
}
case ROTATION_PITCH_90: {
tmp = z; z = -x; x = tmp;
return;
}
case ROTATION_PITCH_270: {
tmp = z; z = x; x = -tmp;
return;
}
case ROTATION_ROLL_180_PITCH_270: {
tmp = z; z = x; x = tmp;
y = -y;
return;
}
case ROTATION_PITCH_90_YAW_180: {
tmp = x; x = z; z = tmp;
y = -y;
return;
}
}
}
src/lib/conversion/rotation.h
+1 -1
View File
@@ -122,7 +122,7 @@ const rot_lookup_t rot_lookup[] = {
* Get the rotation matrix
*/
__EXPORT void
get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix);
get_rot_matrix(enum Rotation rot, math::Matrix<3, 3> *rot_matrix);
/**