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Matrix: added copyToRaw method to allow copying to a pointer

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because most uORB messages still contain all components of a vector one by one after each other
This commit is contained in:
Matthias Grob 2017-11-16 17:51:16 +01:00
parent 308a6c91cb
commit 41ad2bdea5
2 changed files with 12 additions and 0 deletions
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5
matrix/Matrix.hpp
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@ -87,6 +87,11 @@ public:
memcpy(dst, _data, sizeof(dst));
}
void copyToRaw(Type *dst) const
{
memcpy(dst, _data, sizeof(_data));
}
void copyToColumnMajor(Type (&dst)[M*N]) const
{
const Matrix<Type, M, N> &self = *this;

7
test/copyto.cpp
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@ -38,6 +38,13 @@ int main()
TEST(fabs(array_A[i] - array_row[i]) < eps);
}
// Matrix copyTo with a pointer
A.copyToRaw(static_cast <float *> (array_A));
float array_row_p[6] = {1, 2, 3, 4, 5, 6};
for (size_t i = 0; i < 6; i++) {
TEST(fabs(array_A[i] - array_row_p[i]) < eps);
}
// Matrix copyToColumnMajor
A.copyToColumnMajor(array_A);
float array_column[6] = {1, 4, 2, 5, 3, 6};