Move the math library pieces out of systemlib into mathlib

apps/examples/math_demo/math_demo.cpp

@@ -43,12 +43,12 @@
 #include <stdlib.h>
 #include <string.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/math/Matrix.hpp>
-#include <systemlib/math/Quaternion.hpp>
-#include <systemlib/math/Vector3.hpp>
-#include <systemlib/math/Dcm.hpp>
-#include <systemlib/math/EulerAngles.hpp>
+#include <mathlib/math/Vector.hpp>
+#include <mathlib/math/Matrix.hpp>
+#include <mathlib/math/Quaternion.hpp>
+#include <mathlib/math/Vector3.hpp>
+#include <mathlib/math/Dcm.hpp>
+#include <mathlib/math/EulerAngles.hpp>
 
 /**
  * Management function.

apps/mathlib/Makefile

@@ -0,0 +1,71 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# System math library
+#
+
+CXXSRCS		 = math/test/test.cpp \
+		   math/Vector.cpp \
+		   math/Vector3.cpp \
+		   math/EulerAngles.cpp \
+		   math/Quaternion.cpp \
+		   math/Dcm.cpp \
+		   math/Matrix.cpp
+
+CXXHDRS		 = math/test/test.hpp \
+		   math/Vector.hpp \
+		   math/Vector3.hpp \
+		   math/EulerAngles.hpp \
+		   math/Quaternion.hpp \
+		   math/Dcm.hpp \
+		   math/Matrix.hpp
+
+#
+# XXX this really should be a CONFIG_* test
+#
+ifeq ($(TARGET),px4fmu)
+INCLUDES	+= math/arm
+CXXSRCS		+= math/arm/Vector.cpp \
+		   math/arm/Matrix.cpp
+CXXHDRS		+= math/arm/Vector.hpp \
+		   math/arm/Matrix.hpp
+else
+INCLUDES	+= math/generic
+CXXSRCS		+= math/generic/Vector.cpp \
+		   math/generic/Matrix.cpp
+CXXHDRS		+= math/generic/Vector.hpp \
+		   math/generic/Matrix.hpp
+endif
+
+include $(APPDIR)/mk/app.mk

apps/mathlib/math/Dcm.cpp

@@ -37,7 +37,7 @@
  * math direction cosine matrix
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "Dcm.hpp"
 #include "Quaternion.hpp"

apps/mathlib/math/EulerAngles.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "EulerAngles.hpp"
 #include "Quaternion.hpp"

apps/mathlib/math/Matrix.cpp

@@ -37,7 +37,7 @@
  * matrix code
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 #include <math.h>
 
 #include "Matrix.hpp"

apps/mathlib/math/Quaternion.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 
 #include "Quaternion.hpp"

apps/mathlib/math/Vector.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "Vector.hpp"
 

apps/mathlib/math/Vector3.cpp

@@ -37,7 +37,7 @@
  * math vector
  */
 
-#include <systemlib/test/test.hpp>
+#include "test/test.hpp"
 
 #include "Vector3.hpp"
 

apps/mathlib/math/arm/Matrix.hpp

@@ -47,8 +47,8 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/math/Matrix.hpp>
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
 
 // arm specific
 #include "arm_math.h"

apps/mathlib/math/arm/Vector.hpp

@@ -46,8 +46,8 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/test/test.hpp>
+#include "../Vector.hpp"
+#include "../test/test.hpp"
 
 // arm specific
 #include "arm_math.h"

apps/mathlib/math/generic/Matrix.hpp

@@ -47,8 +47,8 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
-#include <systemlib/math/Matrix.hpp>
+#include "../Vector.hpp"
+#include "../Matrix.hpp"
 
 namespace math
 {

apps/mathlib/math/generic/Vector.hpp

@@ -46,7 +46,7 @@
 #include <stdio.h>
 #include <math.h>
 
-#include <systemlib/math/Vector.hpp>
+#include "../Vector.hpp"
 
 namespace math
 {

apps/systemlib/Makefile

@@ -47,41 +47,13 @@ CSRCS		 = err.c \
 
 #		   ppm_decode.c \
 
-
-CXXSRCS   =  test/test.cpp \
-			 math/Vector.cpp \
-			 math/Vector3.cpp \
-			 math/EulerAngles.cpp \
-			 math/Quaternion.cpp \
-			 math/Dcm.cpp \
-			 math/Matrix.cpp
-
-CXXHDRS   =  test/test.hpp \
-			 math/Vector.hpp \
-			 math/Vector3.hpp \
-			 math/EulerAngles.hpp \
-			 math/Quaternion.hpp \
-			 math/Dcm.hpp \
-			 math/Matrix.hpp
-
 #
 # XXX this really should be a CONFIG_* test
 #
 ifeq ($(TARGET),px4fmu)
-INCLUDES += math/arm
 CSRCS		+= systemlib.c \
-		pid/pid.c \
-		geo/geo.c
-CXXSRCS     += math/arm/Vector.cpp \
-		math/arm/Matrix.cpp
-CXXHDRS     += math/arm/Vector.hpp \
-	    math/arm/Matrix.hpp
-else
-INCLUDES += math/generic
-CXXSRCS     += math/generic/Vector.cpp \
-		math/generic/Matrix.cpp
-CXXHDRS     += math/generic/Vector.hpp \
-	    math/generic/Matrix.hpp
+		   pid/pid.c \
+		   geo/geo.c
 endif
 
 include $(APPDIR)/mk/app.mk

nuttx/configs/px4fmu/nsh/appconfig

@@ -46,6 +46,7 @@ CONFIGURED_APPS += systemlib
 CONFIGURED_APPS += systemlib/mixer
 
 # Math library
+CONFIGURED_APPS += mathlib
 CONFIGURED_APPS += mathlib/CMSIS
 
 # System utility commands