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Features and fixes

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* added the trace function for a SquareMatrix

* added Vector3.hat() and it's counterpart Dcm.vee()
for skewsymskew symmetric matrix operations in relation to the cross product
see https://en.wikipedia.org/wiki/Hat_operator

* Matrix::write_string produced runtime errors when I used it in PX4 posix simulation, i simplified it

* a Matrix3f is a SquareMatrix

* added tests for SquareMatrix.trace, Vector3.hat and Dcm.vee

* added a test for quaternion initialisation from array

* preventing buffer overflows in Matrix.write_string method
This commit is contained in:
Matthias Grob
2016-04-28 15:16:36 -04:00
committed by James Goppert
parent 07fba8322a
commit 65679fbcbb
8 changed files with 73 additions and 20 deletions
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matrix/Matrix.hpp
+3 -19
View File
@@ -274,28 +274,14 @@ public:
void write_string(char * buf, size_t n) const
{
buf[0] = '\0'; // make an empty string to begin with (we need the '\0' for strlen to work)
const Matrix<Type, M, N> &self = *this;
char data_buf[500] = {0};
for (size_t i = 0; i < M; i++) {
char data_line[100] = {0};
char data_line_formatted[100] = {0};
for (size_t j = 0; j < N; j++) {
char val_buf[15];
if (j == N-1) {
snprintf(val_buf, 15, "\t%10g", double(self(i, j)));
} else {
snprintf(val_buf, 15, "\t%10g,", double(self(i, j)));
}
strncat(data_line, val_buf, 300);
snprintf(buf + strlen(buf), n - strlen(buf), "\t%.2g", double(self(i, j))); // directly append to the string buffer
}
if (i == M-1) {
snprintf(data_line_formatted, n, "[%s]", data_line);
} else {
snprintf(data_line_formatted, n, "[%s],\n", data_line);
}
strncat(data_buf, data_line_formatted, n);
snprintf(buf + strlen(buf), n - strlen(buf), "\n");
}
snprintf(buf, n, "[%s]", data_buf);
}
void print() const
@@ -511,8 +497,6 @@ std::ostream& operator<<(std::ostream& os,
}
#endif // defined(SUPPORT_STDIOSTREAM)
typedef Matrix<float, 3, 3> Matrix3f;
} // namespace matrix
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */