fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 03:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove unsafe access to .data() and _data in Matrix

Browse Source
This commit is contained in:
Julian Kent
2019-09-16 11:12:23 +02:00
committed by Daniel Agar
parent 78bf12f0db
commit 2d4ecab3b0
8 changed files with 29 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/systemcmds/tests/test_matrix.cpp
+9 -7
View File
@@ -438,8 +438,10 @@ bool MatrixTest::matrixAssignmentTests()
double eps = 1e-6f;
for (int i = 0; i < 9; i++) {
ut_test(fabs(data[i] - m2.data()[i]) < eps);
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
ut_test(fabs(data[i * 3 + j] - m2(i, j)) < eps);
}
}
float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
@@ -493,8 +495,8 @@ bool MatrixTest::matrixAssignmentTests()
ut_test(fabs(m5(0, 0) - s) < 1e-5);
Matrix<float, 2, 2> m6;
m6.setRow(0, Vector2f(1, 1));
m6.setCol(0, Vector2f(1, 1));
m6.row(0) = Vector2f(1, 1);
m6.col(0) = Vector2f(1, 1);
return true;
}
@@ -578,7 +580,7 @@ bool MatrixTest::sliceTests()
};
Matrix<float, 2, 2> C(data_2);
A.set(C, 1, 1);
A.slice<2, 2>(1, 1) = C;
float data_2_check[9] = {
0, 2, 3,
@@ -737,7 +739,7 @@ bool MatrixTest::dcmRenormTests()
if (verbose) {
for (int row = 0; row < 3; row++) {
matrix::Vector3f rvec(A._data[row]);
matrix::Vector3f rvec(matrix::Matrix<float, 1, 3>(A.row(row)).transpose());
err += fabsf(1.0f - rvec.length());
}
@@ -749,7 +751,7 @@ bool MatrixTest::dcmRenormTests()
err = 0.0f;
for (int row = 0; row < 3; row++) {
matrix::Vector3f rvec(A._data[row]);
matrix::Vector3f rvec(matrix::Matrix<float, 1, 3>(A.row(row)).transpose());
err += fabsf(1.0f - rvec.length());
}