matrix: apply PX4 astyle

Tools/astyle/files_to_check_code_style.sh

@@ -17,7 +17,6 @@ exec find boards msg src platforms test \
     -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
-    -path src/lib/matrix -prune -o \
     -path src/lib/parameters/uthash -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \

src/lib/matrix/matrix/AxisAngle.hpp

@@ -30,131 +30,134 @@ template<typename Type>
 class AxisAngle : public Vector<Type, 3>
 {
 public:
-    using Matrix31 = Matrix<Type, 3, 1>;
+	using Matrix31 = Matrix<Type, 3, 1>;
 
-    /**
-     * Constructor from array
-     *
-     * @param data_ array
-     */
-    explicit AxisAngle(const Type data_[3]) :
-        Vector<Type, 3>(data_)
-    {
-    }
+	/**
+	 * Constructor from array
+	 *
+	 * @param data_ array
+	 */
+	explicit AxisAngle(const Type data_[3]) :
+		Vector<Type, 3>(data_)
+	{
+	}
 
-    /**
-     * Standard constructor
-     */
-    AxisAngle() = default;
+	/**
+	 * Standard constructor
+	 */
+	AxisAngle() = default;
 
-    /**
-     * Constructor from Matrix31
-     *
-     * @param other Matrix31 to copy
-     */
-    AxisAngle(const Matrix31 &other) :
-        Vector<Type, 3>(other)
-    {
-    }
+	/**
+	 * Constructor from Matrix31
+	 *
+	 * @param other Matrix31 to copy
+	 */
+	AxisAngle(const Matrix31 &other) :
+		Vector<Type, 3>(other)
+	{
+	}
 
-    /**
-     * Constructor from quaternion
-     *
-     * This sets the instance from a quaternion representing coordinate transformation from
-     * frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
-     * by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
-     *
-     * @param q quaternion
-     */
-    AxisAngle(const Quaternion<Type> &q)
-    {
-        AxisAngle &v = *this;
-        Type mag = q.imag().norm();
-        if (fabs(mag) >= Type(1e-10)) {
-            v = q.imag() * Type(Type(2) * atan2(mag, q(0)) / mag);
-        } else {
-            v = q.imag() * Type(Type(2) * Type(sign(q(0))));
-        }
-    }
+	/**
+	 * Constructor from quaternion
+	 *
+	 * This sets the instance from a quaternion representing coordinate transformation from
+	 * frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
+	 * by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+	 *
+	 * @param q quaternion
+	 */
+	AxisAngle(const Quaternion<Type> &q)
+	{
+		AxisAngle &v = *this;
+		Type mag = q.imag().norm();
 
-    /**
-     * Constructor from dcm
-     *
-     * Instance is initialized from a dcm representing coordinate transformation
-     * from frame 2 to frame 1.
-     *
-     * @param dcm dcm to set quaternion to
-     */
-    AxisAngle(const Dcm<Type> &dcm)
-    {
-        AxisAngle &v = *this;
-        v = AxisAngle<Type>(Quaternion<Type>(dcm));
-    }
+		if (fabs(mag) >= Type(1e-10)) {
+			v = q.imag() * Type(Type(2) * atan2(mag, q(0)) / mag);
 
-    /**
-     * Constructor from euler angles
-     *
-     * This sets the instance to a quaternion representing coordinate transformation from
-     * frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
-     * by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
-     *
-     * @param euler euler angle instance
-     */
-    AxisAngle(const Euler<Type> &euler)
-    {
-        AxisAngle &v = *this;
-        v = AxisAngle<Type>(Quaternion<Type>(euler));
-    }
+		} else {
+			v = q.imag() * Type(Type(2) * Type(sign(q(0))));
+		}
+	}
 
-    /**
-     * Constructor from 3 axis angle values (unit vector * angle)
-     *
-     * @param x r_x*angle
-     * @param y r_y*angle
-     * @param z r_z*angle
-     */
-    AxisAngle(Type x, Type y, Type z)
-    {
-        AxisAngle &v = *this;
-        v(0) = x;
-        v(1) = y;
-        v(2) = z;
-    }
+	/**
+	 * Constructor from dcm
+	 *
+	 * Instance is initialized from a dcm representing coordinate transformation
+	 * from frame 2 to frame 1.
+	 *
+	 * @param dcm dcm to set quaternion to
+	 */
+	AxisAngle(const Dcm<Type> &dcm)
+	{
+		AxisAngle &v = *this;
+		v = AxisAngle<Type>(Quaternion<Type>(dcm));
+	}
 
-    /**
-     * Constructor from axis and angle
-     *
-     * @param axis An axis of rotation, normalized if not unit length
-     * @param angle The amount to rotate
-     */
-    AxisAngle(const Matrix31 & axis_, Type angle_)
-    {
-        AxisAngle &v = *this;
-        // make sure axis is a unit vector
-        Vector<Type, 3> a = axis_;
-        a = a.unit();
-        v(0) = a(0)*angle_;
-        v(1) = a(1)*angle_;
-        v(2) = a(2)*angle_;
-    }
+	/**
+	 * Constructor from euler angles
+	 *
+	 * This sets the instance to a quaternion representing coordinate transformation from
+	 * frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
+	 * by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+	 *
+	 * @param euler euler angle instance
+	 */
+	AxisAngle(const Euler<Type> &euler)
+	{
+		AxisAngle &v = *this;
+		v = AxisAngle<Type>(Quaternion<Type>(euler));
+	}
+
+	/**
+	 * Constructor from 3 axis angle values (unit vector * angle)
+	 *
+	 * @param x r_x*angle
+	 * @param y r_y*angle
+	 * @param z r_z*angle
+	 */
+	AxisAngle(Type x, Type y, Type z)
+	{
+		AxisAngle &v = *this;
+		v(0) = x;
+		v(1) = y;
+		v(2) = z;
+	}
+
+	/**
+	 * Constructor from axis and angle
+	 *
+	 * @param axis An axis of rotation, normalized if not unit length
+	 * @param angle The amount to rotate
+	 */
+	AxisAngle(const Matrix31 &axis_, Type angle_)
+	{
+		AxisAngle &v = *this;
+		// make sure axis is a unit vector
+		Vector<Type, 3> a = axis_;
+		a = a.unit();
+		v(0) = a(0) * angle_;
+		v(1) = a(1) * angle_;
+		v(2) = a(2) * angle_;
+	}
 
 
-    Vector<Type, 3> axis() {
-        if (Vector<Type, 3>::norm() > 0) {
-            return Vector<Type, 3>::unit();
-        } else {
-            return Vector3<Type>(1, 0, 0);
-        }
-    }
+	Vector<Type, 3> axis()
+	{
+		if (Vector<Type, 3>::norm() > 0) {
+			return Vector<Type, 3>::unit();
 
-    Type angle() {
-        return Vector<Type, 3>::norm();
-    }
+		} else {
+			return Vector3<Type>(1, 0, 0);
+		}
+	}
+
+	Type angle()
+	{
+		return Vector<Type, 3>::norm();
+	}
 };
 
 using AxisAnglef = AxisAngle<float>;
 using AxisAngled = AxisAngle<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Dcm.hpp

@@ -39,149 +39,147 @@ template<typename Type>
 class Dcm : public SquareMatrix<Type, 3>
 {
 public:
-    using Vector3 = Matrix<Type, 3, 1>;
+	using Vector3 = Matrix<Type, 3, 1>;
 
-    /**
-     * Standard constructor
-     *
-     * Initializes to identity
-     */
-    Dcm() : SquareMatrix<Type, 3>(eye<Type, 3>()) {}
+	/**
+	 * Standard constructor
+	 *
+	 * Initializes to identity
+	 */
+	Dcm() : SquareMatrix<Type, 3>(eye<Type, 3>()) {}
 
-    /**
-     * Constructor from array
-     *
-     * @param _data pointer to array
-     */
-    explicit Dcm(const Type data_[3][3]) : SquareMatrix<Type, 3>(data_)
-    {
-    }
+	/**
+	 * Constructor from array
+	 *
+	 * @param _data pointer to array
+	 */
+	explicit Dcm(const Type data_[3][3]) : SquareMatrix<Type, 3>(data_)
+	{
+	}
 
-    /**
-     * Constructor from array
-     *
-     * @param _data pointer to array
-     */
-    explicit Dcm(const Type data_[9]) : SquareMatrix<Type, 3>(data_)
-    {
-    }
+	/**
+	 * Constructor from array
+	 *
+	 * @param _data pointer to array
+	 */
+	explicit Dcm(const Type data_[9]) : SquareMatrix<Type, 3>(data_)
+	{
+	}
 
-    /**
-     * Copy constructor
-     *
-     * @param other Matrix33 to set dcm to
-     */
-    Dcm(const Matrix<Type, 3, 3> &other) : SquareMatrix<Type, 3>(other)
-    {
-    }
+	/**
+	 * Copy constructor
+	 *
+	 * @param other Matrix33 to set dcm to
+	 */
+	Dcm(const Matrix<Type, 3, 3> &other) : SquareMatrix<Type, 3>(other)
+	{
+	}
 
-    /**
-     * Constructor from quaternion
-     *
-     * Instance is initialized from quaternion representing
-     * coordinate transformation from frame 2 to frame 1.
-     *
-     * @param q quaternion to set dcm to
-     */
-    Dcm(const Quaternion<Type> &q)
-    {
-        Dcm &dcm = *this;
-        const Type a = q(0);
-        const Type b = q(1);
-        const Type c = q(2);
-        const Type d = q(3);
-        const Type aa = a * a;
-        const Type ab = a * b;
-        const Type ac = a * c;
-        const Type ad = a * d;
-        const Type bb = b * b;
-        const Type bc = b * c;
-        const Type bd = b * d;
-        const Type cc = c * c;
-        const Type cd = c * d;
-        const Type dd = d * d;
-        dcm(0, 0) = aa + bb - cc - dd;
-        dcm(0, 1) = Type(2) * (bc - ad);
-        dcm(0, 2) = Type(2) * (ac + bd);
-        dcm(1, 0) = Type(2) * (bc + ad);
-        dcm(1, 1) = aa - bb + cc - dd;
-        dcm(1, 2) = Type(2) * (cd - ab);
-        dcm(2, 0) = Type(2) * (bd - ac);
-        dcm(2, 1) = Type(2) * (ab + cd);
-        dcm(2, 2) = aa - bb - cc + dd;
-    }
+	/**
+	 * Constructor from quaternion
+	 *
+	 * Instance is initialized from quaternion representing
+	 * coordinate transformation from frame 2 to frame 1.
+	 *
+	 * @param q quaternion to set dcm to
+	 */
+	Dcm(const Quaternion<Type> &q)
+	{
+		Dcm &dcm = *this;
+		const Type a = q(0);
+		const Type b = q(1);
+		const Type c = q(2);
+		const Type d = q(3);
+		const Type aa = a * a;
+		const Type ab = a * b;
+		const Type ac = a * c;
+		const Type ad = a * d;
+		const Type bb = b * b;
+		const Type bc = b * c;
+		const Type bd = b * d;
+		const Type cc = c * c;
+		const Type cd = c * d;
+		const Type dd = d * d;
+		dcm(0, 0) = aa + bb - cc - dd;
+		dcm(0, 1) = Type(2) * (bc - ad);
+		dcm(0, 2) = Type(2) * (ac + bd);
+		dcm(1, 0) = Type(2) * (bc + ad);
+		dcm(1, 1) = aa - bb + cc - dd;
+		dcm(1, 2) = Type(2) * (cd - ab);
+		dcm(2, 0) = Type(2) * (bd - ac);
+		dcm(2, 1) = Type(2) * (ab + cd);
+		dcm(2, 2) = aa - bb - cc + dd;
+	}
 
-    /**
-     * Constructor from euler angles
-     *
-     * This sets the transformation matrix from frame 2 to frame 1 where the rotation
-     * from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
-     *
-     *
-     * @param euler euler angle instance
-     */
-    Dcm(const Euler<Type> &euler)
-    {
-        Dcm &dcm = *this;
-        Type cosPhi = Type(cos(euler.phi()));
-        Type sinPhi = Type(sin(euler.phi()));
-        Type cosThe = Type(cos(euler.theta()));
-        Type sinThe = Type(sin(euler.theta()));
-        Type cosPsi = Type(cos(euler.psi()));
-        Type sinPsi = Type(sin(euler.psi()));
+	/**
+	 * Constructor from euler angles
+	 *
+	 * This sets the transformation matrix from frame 2 to frame 1 where the rotation
+	 * from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+	 *
+	 *
+	 * @param euler euler angle instance
+	 */
+	Dcm(const Euler<Type> &euler)
+	{
+		Dcm &dcm = *this;
+		Type cosPhi = Type(cos(euler.phi()));
+		Type sinPhi = Type(sin(euler.phi()));
+		Type cosThe = Type(cos(euler.theta()));
+		Type sinThe = Type(sin(euler.theta()));
+		Type cosPsi = Type(cos(euler.psi()));
+		Type sinPsi = Type(sin(euler.psi()));
 
-        dcm(0, 0) = cosThe * cosPsi;
-        dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
-        dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
+		dcm(0, 0) = cosThe * cosPsi;
+		dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
+		dcm(0, 2) = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
 
-        dcm(1, 0) = cosThe * sinPsi;
-        dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
-        dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
+		dcm(1, 0) = cosThe * sinPsi;
+		dcm(1, 1) = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
+		dcm(1, 2) = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
 
-        dcm(2, 0) = -sinThe;
-        dcm(2, 1) = sinPhi * cosThe;
-        dcm(2, 2) = cosPhi * cosThe;
-    }
+		dcm(2, 0) = -sinThe;
+		dcm(2, 1) = sinPhi * cosThe;
+		dcm(2, 2) = cosPhi * cosThe;
+	}
 
 
-    /**
-     * Constructor from axis angle
-     *
-     * This sets the transformation matrix from frame 2 to frame 1 where the rotation
-     * from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
-     *
-     *
-     * @param euler euler angle instance
-     */
-    Dcm(const AxisAngle<Type> &aa)
-    {
-        Dcm &dcm = *this;
-        dcm = Quaternion<Type>(aa);
-    }
+	/**
+	 * Constructor from axis angle
+	 *
+	 * This sets the transformation matrix from frame 2 to frame 1 where the rotation
+	 * from frame 1 to frame 2 is described by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+	 *
+	 *
+	 * @param euler euler angle instance
+	 */
+	Dcm(const AxisAngle<Type> &aa)
+	{
+		Dcm &dcm = *this;
+		dcm = Quaternion<Type>(aa);
+	}
 
-    Vector<Type, 3> vee() const      // inverse to Vector.hat() operation
-    {
-        const Dcm &A(*this);
-        Vector<Type, 3> v;
-        v(0) = -A(1, 2);
-        v(1) =  A(0, 2);
-        v(2) = -A(0, 1);
-        return v;
-    }
+	Vector<Type, 3> vee() const      // inverse to Vector.hat() operation
+	{
+		const Dcm &A(*this);
+		Vector<Type, 3> v;
+		v(0) = -A(1, 2);
+		v(1) =  A(0, 2);
+		v(2) = -A(0, 1);
+		return v;
+	}
 
-    void renormalize()
-    {
-        /* renormalize rows */
-        for (size_t r = 0; r < 3; r++) {
-            matrix::Vector3<Type> rvec(Matrix<Type,1,3>(this->Matrix<Type,3,3>::row(r)).transpose());
-            this->Matrix<Type,3,3>::row(r) = rvec.normalized();
-        }
-    }
+	void renormalize()
+	{
+		/* renormalize rows */
+		for (size_t r = 0; r < 3; r++) {
+			matrix::Vector3<Type> rvec(Matrix<Type, 1, 3>(this->Matrix<Type, 3, 3>::row(r)).transpose());
+			this->Matrix<Type, 3, 3>::row(r) = rvec.normalized();
+		}
+	}
 };
 
 using Dcmf = Dcm<float>;
 using Dcmd = Dcm<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Dual.hpp

@@ -22,350 +22,356 @@ template <typename Type, size_t M>
 class Vector;
 
 template <typename Scalar, size_t N>
-struct Dual
-{
-    static constexpr size_t WIDTH = N;
+struct Dual {
+	static constexpr size_t WIDTH = N;
 
-    Scalar value {};
-    Vector<Scalar, N> derivative;
+	Scalar value {};
+	Vector<Scalar, N> derivative;
 
-    Dual() = default;
+	Dual() = default;
 
-    explicit Dual(Scalar v, size_t inputDimension = 65535)
-    {
-        value = v;
-        if (inputDimension < N) {
-            derivative(inputDimension) = Scalar(1);
-        }
-    }
+	explicit Dual(Scalar v, size_t inputDimension = 65535)
+	{
+		value = v;
 
-    explicit Dual(Scalar v, const Vector<Scalar, N>& d) :
-        value(v), derivative(d)
-    {}
+		if (inputDimension < N) {
+			derivative(inputDimension) = Scalar(1);
+		}
+	}
 
-    Dual<Scalar, N>& operator=(const Scalar& a)
-    {
-        derivative.setZero();
-        value = a;
-        return *this;
-    }
+	explicit Dual(Scalar v, const Vector<Scalar, N> &d) :
+		value(v), derivative(d)
+	{}
 
-    Dual<Scalar, N>& operator +=(const Dual<Scalar, N>& a)
-    {
-        return (*this = *this + a);
-    }
+	Dual<Scalar, N> &operator=(const Scalar &a)
+	{
+		derivative.setZero();
+		value = a;
+		return *this;
+	}
 
-    Dual<Scalar, N>& operator *=(const Dual<Scalar, N>& a)
-    {
-        return (*this = *this * a);
-    }
+	Dual<Scalar, N> &operator +=(const Dual<Scalar, N> &a)
+	{
+		return (*this = *this + a);
+	}
 
-    Dual<Scalar, N>& operator -=(const Dual<Scalar, N>& a)
-    {
-        return (*this = *this - a);
-    }
+	Dual<Scalar, N> &operator *=(const Dual<Scalar, N> &a)
+	{
+		return (*this = *this * a);
+	}
 
-    Dual<Scalar, N>& operator /=(const Dual<Scalar, N>& a)
-    {
-        return (*this = *this / a);
-    }
+	Dual<Scalar, N> &operator -=(const Dual<Scalar, N> &a)
+	{
+		return (*this = *this - a);
+	}
 
-    Dual<Scalar, N>& operator +=(Scalar a)
-    {
-        return (*this = *this + a);
-    }
+	Dual<Scalar, N> &operator /=(const Dual<Scalar, N> &a)
+	{
+		return (*this = *this / a);
+	}
 
-    Dual<Scalar, N>& operator -=(Scalar a)
-    {
-        return (*this = *this - a);
-    }
+	Dual<Scalar, N> &operator +=(Scalar a)
+	{
+		return (*this = *this + a);
+	}
 
-    Dual<Scalar, N>& operator *=(Scalar a)
-    {
-        return (*this = *this * a);
-    }
+	Dual<Scalar, N> &operator -=(Scalar a)
+	{
+		return (*this = *this - a);
+	}
 
-    Dual<Scalar, N>& operator /=(Scalar a)
-    {
-        return (*this = *this / a);
-    }
+	Dual<Scalar, N> &operator *=(Scalar a)
+	{
+		return (*this = *this * a);
+	}
+
+	Dual<Scalar, N> &operator /=(Scalar a)
+	{
+		return (*this = *this / a);
+	}
 
 };
 
 // operators
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator+(const Dual<Scalar, N>& a)
+Dual<Scalar, N> operator+(const Dual<Scalar, N> &a)
 {
-    return a;
+	return a;
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator-(const Dual<Scalar, N>& a)
+Dual<Scalar, N> operator-(const Dual<Scalar, N> &a)
 {
-    return Dual<Scalar, N>(-a.value, -a.derivative);
+	return Dual<Scalar, N>(-a.value, -a.derivative);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator+(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator+(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    return Dual<Scalar, N>(a.value + b.value, a.derivative + b.derivative);
+	return Dual<Scalar, N>(a.value + b.value, a.derivative + b.derivative);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator-(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator-(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    return a + (-b);
+	return a + (-b);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator+(const Dual<Scalar, N>& a, Scalar b)
+Dual<Scalar, N> operator+(const Dual<Scalar, N> &a, Scalar b)
 {
-    return Dual<Scalar, N>(a.value + b, a.derivative);
+	return Dual<Scalar, N>(a.value + b, a.derivative);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator-(const Dual<Scalar, N>& a, Scalar b)
+Dual<Scalar, N> operator-(const Dual<Scalar, N> &a, Scalar b)
 {
-    return a + (-b);
+	return a + (-b);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator+(Scalar a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator+(Scalar a, const Dual<Scalar, N> &b)
 {
-    return Dual<Scalar, N>(a + b.value, b.derivative);
+	return Dual<Scalar, N>(a + b.value, b.derivative);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator-(Scalar a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator-(Scalar a, const Dual<Scalar, N> &b)
 {
-    return a + (-b);
+	return a + (-b);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator*(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator*(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    return Dual<Scalar, N>(a.value * b.value, a.value * b.derivative + b.value * a.derivative);
+	return Dual<Scalar, N>(a.value * b.value, a.value * b.derivative + b.value * a.derivative);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator*(const Dual<Scalar, N>& a, Scalar b)
+Dual<Scalar, N> operator*(const Dual<Scalar, N> &a, Scalar b)
 {
-    return Dual<Scalar, N>(a.value * b, a.derivative * b);
+	return Dual<Scalar, N>(a.value * b, a.derivative * b);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator*(Scalar a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator*(Scalar a, const Dual<Scalar, N> &b)
 {
-    return b * a;
+	return b * a;
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator/(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator/(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    const Scalar inv_b_real = Scalar(1) / b.value;
-    return Dual<Scalar, N>(a.value * inv_b_real, a.derivative * inv_b_real -
-                           a.value * b.derivative * inv_b_real * inv_b_real);
+	const Scalar inv_b_real = Scalar(1) / b.value;
+	return Dual<Scalar, N>(a.value * inv_b_real, a.derivative * inv_b_real -
+			       a.value * b.derivative * inv_b_real * inv_b_real);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator/(const Dual<Scalar, N>& a, Scalar b)
+Dual<Scalar, N> operator/(const Dual<Scalar, N> &a, Scalar b)
 {
-    return a * (Scalar(1) / b);
+	return a * (Scalar(1) / b);
 }
 
 template <typename Scalar, size_t N>
-Dual<Scalar, N> operator/(Scalar a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> operator/(Scalar a, const Dual<Scalar, N> &b)
 {
-    const Scalar inv_b_real = Scalar(1) / b.value;
-    return Dual<Scalar, N>(a * inv_b_real, (-inv_b_real * a * inv_b_real) * b.derivative);
+	const Scalar inv_b_real = Scalar(1) / b.value;
+	return Dual<Scalar, N>(a * inv_b_real, (-inv_b_real * a * inv_b_real) * b.derivative);
 }
 
 // basic math
 
 // sqrt
 template <typename Scalar, size_t N>
-Dual<Scalar, N> sqrt(const Dual<Scalar, N>& a)
+Dual<Scalar, N> sqrt(const Dual<Scalar, N> &a)
 {
-    Scalar real = sqrt(a.value);
-    return Dual<Scalar, N>(real, a.derivative * (Scalar(1) / (Scalar(2) * real)));
+	Scalar real = sqrt(a.value);
+	return Dual<Scalar, N>(real, a.derivative * (Scalar(1) / (Scalar(2) * real)));
 }
 
 // abs
 template <typename Scalar, size_t N>
-Dual<Scalar, N> abs(const Dual<Scalar, N>& a)
+Dual<Scalar, N> abs(const Dual<Scalar, N> &a)
 {
-    return a.value >= Scalar(0) ? a : -a;
+	return a.value >= Scalar(0) ? a : -a;
 }
 
 // ceil
 template <typename Scalar, size_t N>
-Dual<Scalar, N> ceil(const Dual<Scalar, N>& a)
+Dual<Scalar, N> ceil(const Dual<Scalar, N> &a)
 {
-    return Dual<Scalar, N>(ceil(a.value));
+	return Dual<Scalar, N>(ceil(a.value));
 }
 
 // floor
 template <typename Scalar, size_t N>
-Dual<Scalar, N> floor(const Dual<Scalar, N>& a)
+Dual<Scalar, N> floor(const Dual<Scalar, N> &a)
 {
-    return Dual<Scalar, N>(floor(a.value));
+	return Dual<Scalar, N>(floor(a.value));
 }
 
 // fmod
 template <typename Scalar, size_t N>
-Dual<Scalar, N> fmod(const Dual<Scalar, N>& a, Scalar mod)
+Dual<Scalar, N> fmod(const Dual<Scalar, N> &a, Scalar mod)
 {
-    return Dual<Scalar, N>(a.value - Scalar(size_t(a.value / mod)) * mod, a.derivative);
+	return Dual<Scalar, N>(a.value - Scalar(size_t(a.value / mod)) * mod, a.derivative);
 }
 
 // max
 template <typename Scalar, size_t N>
-Dual<Scalar, N> max(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> max(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    return a.value >= b.value ? a : b;
+	return a.value >= b.value ? a : b;
 }
 
 // min
 template <typename Scalar, size_t N>
-Dual<Scalar, N> min(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> min(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    return a.value < b.value ? a : b;
+	return a.value < b.value ? a : b;
 }
 
 // isnan
 template <typename Scalar>
 bool IsNan(Scalar a)
 {
-    return isnan(a);
+	return isnan(a);
 }
 
 template <typename Scalar, size_t N>
-bool IsNan(const Dual<Scalar, N>& a)
+bool IsNan(const Dual<Scalar, N> &a)
 {
-    return IsNan(a.value);
+	return IsNan(a.value);
 }
 
 // isfinite
 template <typename Scalar>
 bool IsFinite(Scalar a)
 {
-    return isfinite(a);
+	return isfinite(a);
 }
 
 template <typename Scalar, size_t N>
-bool IsFinite(const Dual<Scalar, N>& a)
+bool IsFinite(const Dual<Scalar, N> &a)
 {
-    return IsFinite(a.value);
+	return IsFinite(a.value);
 }
 
 // isinf
 template <typename Scalar>
 bool IsInf(Scalar a)
 {
-    return isinf(a);
+	return isinf(a);
 }
 
 template <typename Scalar, size_t N>
-bool IsInf(const Dual<Scalar, N>& a)
+bool IsInf(const Dual<Scalar, N> &a)
 {
-    return IsInf(a.value);
+	return IsInf(a.value);
 }
 
 // trig
 
 // sin
 template <typename Scalar, size_t N>
-Dual<Scalar, N> sin(const Dual<Scalar, N>& a)
+Dual<Scalar, N> sin(const Dual<Scalar, N> &a)
 {
-    return Dual<Scalar, N>(sin(a.value), cos(a.value) * a.derivative);
+	return Dual<Scalar, N>(sin(a.value), cos(a.value) * a.derivative);
 }
 
 // cos
 template <typename Scalar, size_t N>
-Dual<Scalar, N> cos(const Dual<Scalar, N>& a)
+Dual<Scalar, N> cos(const Dual<Scalar, N> &a)
 {
-    return Dual<Scalar, N>(cos(a.value), -sin(a.value) * a.derivative);
+	return Dual<Scalar, N>(cos(a.value), -sin(a.value) * a.derivative);
 }
 
 // tan
 template <typename Scalar, size_t N>
-Dual<Scalar, N> tan(const Dual<Scalar, N>& a)
+Dual<Scalar, N> tan(const Dual<Scalar, N> &a)
 {
-    Scalar real = tan(a.value);
-    return Dual<Scalar, N>(real, (Scalar(1) + real * real) * a.derivative);
+	Scalar real = tan(a.value);
+	return Dual<Scalar, N>(real, (Scalar(1) + real * real) * a.derivative);
 }
 
 // asin
 template <typename Scalar, size_t N>
-Dual<Scalar, N> asin(const Dual<Scalar, N>& a)
+Dual<Scalar, N> asin(const Dual<Scalar, N> &a)
 {
-    Scalar asin_d = Scalar(1) / sqrt(Scalar(1) - a.value * a.value);
-    return Dual<Scalar, N>(asin(a.value), asin_d * a.derivative);
+	Scalar asin_d = Scalar(1) / sqrt(Scalar(1) - a.value * a.value);
+	return Dual<Scalar, N>(asin(a.value), asin_d * a.derivative);
 }
 
 // acos
 template <typename Scalar, size_t N>
-Dual<Scalar, N> acos(const Dual<Scalar, N>& a)
+Dual<Scalar, N> acos(const Dual<Scalar, N> &a)
 {
-    Scalar acos_d = -Scalar(1) / sqrt(Scalar(1) - a.value * a.value);
-    return Dual<Scalar, N>(acos(a.value), acos_d * a.derivative);
+	Scalar acos_d = -Scalar(1) / sqrt(Scalar(1) - a.value * a.value);
+	return Dual<Scalar, N>(acos(a.value), acos_d * a.derivative);
 }
 
 // atan
 template <typename Scalar, size_t N>
-Dual<Scalar, N> atan(const Dual<Scalar, N>& a)
+Dual<Scalar, N> atan(const Dual<Scalar, N> &a)
 {
-    Scalar atan_d = Scalar(1) / (Scalar(1) + a.value * a.value);
-    return Dual<Scalar, N>(atan(a.value), atan_d * a.derivative);
+	Scalar atan_d = Scalar(1) / (Scalar(1) + a.value * a.value);
+	return Dual<Scalar, N>(atan(a.value), atan_d * a.derivative);
 }
 
 // atan2
 template <typename Scalar, size_t N>
-Dual<Scalar, N> atan2(const Dual<Scalar, N>& a, const Dual<Scalar, N>& b)
+Dual<Scalar, N> atan2(const Dual<Scalar, N> &a, const Dual<Scalar, N> &b)
 {
-    // derivative is equal to that of atan(a/b), so substitute a/b into atan and simplify
-    Scalar atan_d = Scalar(1) / (a.value * a.value + b.value * b.value);
-    return Dual<Scalar, N>(atan2(a.value, b.value), (a.derivative * b.value - a.value * b.derivative) * atan_d);
+	// derivative is equal to that of atan(a/b), so substitute a/b into atan and simplify
+	Scalar atan_d = Scalar(1) / (a.value * a.value + b.value * b.value);
+	return Dual<Scalar, N>(atan2(a.value, b.value), (a.derivative * b.value - a.value * b.derivative) * atan_d);
 }
 
 // retrieve the derivative elements of a vector of Duals into a matrix
 template <typename Scalar, size_t M, size_t N>
-Matrix<Scalar, M, N> collectDerivatives(const Matrix<Dual<Scalar, N>, M, 1>& input)
+Matrix<Scalar, M, N> collectDerivatives(const Matrix<Dual<Scalar, N>, M, 1> &input)
 {
-    Matrix<Scalar, M, N> jac;
-    for (size_t i = 0; i < M; i++) {
-        jac.row(i) = input(i, 0).derivative;
-    }
-    return jac;
+	Matrix<Scalar, M, N> jac;
+
+	for (size_t i = 0; i < M; i++) {
+		jac.row(i) = input(i, 0).derivative;
+	}
+
+	return jac;
 }
 
 // retrieve the real (non-derivative) elements of a matrix of Duals into an equally sized matrix
 template <typename Scalar, size_t M, size_t N, size_t D>
-Matrix<Scalar, M, N> collectReals(const Matrix<Dual<Scalar, D>, M, N>& input)
+Matrix<Scalar, M, N> collectReals(const Matrix<Dual<Scalar, D>, M, N> &input)
 {
-    Matrix<Scalar, M, N> r;
-    for (size_t i = 0; i < M; i++) {
-        for (size_t j = 0; j < N; j++) {
-            r(i,j) = input(i,j).value;
-        }
-    }
-    return r;
+	Matrix<Scalar, M, N> r;
+
+	for (size_t i = 0; i < M; i++) {
+		for (size_t j = 0; j < N; j++) {
+			r(i, j) = input(i, j).value;
+		}
+	}
+
+	return r;
 }
 
 #if defined(SUPPORT_STDIOSTREAM)
 template<typename Type, size_t N>
-std::ostream& operator<<(std::ostream& os,
-                         const matrix::Dual<Type, N>& dual)
+std::ostream &operator<<(std::ostream &os,
+			 const matrix::Dual<Type, N> &dual)
 {
-    os << "[";
-    os << std::setw(10) << dual.value << ";";
-    for (size_t j = 0; j < N; ++j) {
-        os << "\t";
-        os << std::setw(10) << static_cast<double>(dual.derivative(j));
-    }
-    os << "]";
-    return os;
+	os << "[";
+	os << std::setw(10) << dual.value << ";";
+
+	for (size_t j = 0; j < N; ++j) {
+		os << "\t";
+		os << std::setw(10) << static_cast<double>(dual.derivative(j));
+	}
+
+	os << "]";
+	return os;
 }
 #endif // defined(SUPPORT_STDIOSTREAM)
 

src/lib/matrix/matrix/Euler.hpp

@@ -36,116 +36,116 @@ template<typename Type>
 class Euler : public Vector<Type, 3>
 {
 public:
-    /**
-     * Standard constructor
-     */
-    Euler() = default;
+	/**
+	 * Standard constructor
+	 */
+	Euler() = default;
 
-    /**
-     * Copy constructor
-     *
-     * @param other vector to copy
-     */
-    Euler(const Vector<Type, 3> &other) :
-        Vector<Type, 3>(other)
-    {
-    }
+	/**
+	 * Copy constructor
+	 *
+	 * @param other vector to copy
+	 */
+	Euler(const Vector<Type, 3> &other) :
+		Vector<Type, 3>(other)
+	{
+	}
 
-    /**
-     * Constructor from Matrix31
-     *
-     * @param other Matrix31 to copy
-     */
-    Euler(const Matrix<Type, 3, 1> &other) :
-        Vector<Type, 3>(other)
-    {
-    }
+	/**
+	 * Constructor from Matrix31
+	 *
+	 * @param other Matrix31 to copy
+	 */
+	Euler(const Matrix<Type, 3, 1> &other) :
+		Vector<Type, 3>(other)
+	{
+	}
 
-    /**
-     * Constructor from euler angles
-     *
-     * Instance is initialized from an 3-2-1 intrinsic Tait-Bryan
-     * rotation sequence representing transformation from frame 1
-     * to frame 2.
-     *
-     * @param phi_ rotation angle about X axis
-     * @param theta_ rotation angle about Y axis
-     * @param psi_ rotation angle about Z axis
-     */
-    Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
-    {
-        phi() = phi_;
-        theta() = theta_;
-        psi() = psi_;
-    }
+	/**
+	 * Constructor from euler angles
+	 *
+	 * Instance is initialized from an 3-2-1 intrinsic Tait-Bryan
+	 * rotation sequence representing transformation from frame 1
+	 * to frame 2.
+	 *
+	 * @param phi_ rotation angle about X axis
+	 * @param theta_ rotation angle about Y axis
+	 * @param psi_ rotation angle about Z axis
+	 */
+	Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
+	{
+		phi() = phi_;
+		theta() = theta_;
+		psi() = psi_;
+	}
 
-    /**
-     * Constructor from DCM matrix
-     *
-     * Instance is set from Dcm representing transformation from
-     * frame 2 to frame 1.
-     * This instance will hold the angles defining the 3-2-1 intrinsic
-     * Tait-Bryan rotation sequence from frame 1 to frame 2.
-     *
-     * @param dcm Direction cosine matrix
-    */
-    Euler(const Dcm<Type> &dcm)
-    {
-        theta() = asin(-dcm(2, 0));
+	/**
+	 * Constructor from DCM matrix
+	 *
+	 * Instance is set from Dcm representing transformation from
+	 * frame 2 to frame 1.
+	 * This instance will hold the angles defining the 3-2-1 intrinsic
+	 * Tait-Bryan rotation sequence from frame 1 to frame 2.
+	 *
+	 * @param dcm Direction cosine matrix
+	*/
+	Euler(const Dcm<Type> &dcm)
+	{
+		theta() = asin(-dcm(2, 0));
 
-        if ((fabs(theta() - Type(M_PI / 2))) < Type(1.0e-3)) {
-            phi() = 0;
-            psi() = atan2(dcm(1, 2), dcm(0, 2));
+		if ((fabs(theta() - Type(M_PI / 2))) < Type(1.0e-3)) {
+			phi() = 0;
+			psi() = atan2(dcm(1, 2), dcm(0, 2));
 
-        } else if ((fabs(theta() + Type(M_PI / 2))) < Type(1.0e-3)) {
-            phi() = 0;
-            psi() = atan2(-dcm(1, 2), -dcm(0, 2));
+		} else if ((fabs(theta() + Type(M_PI / 2))) < Type(1.0e-3)) {
+			phi() = 0;
+			psi() = atan2(-dcm(1, 2), -dcm(0, 2));
 
-        } else {
-            phi() = atan2(dcm(2, 1), dcm(2, 2));
-            psi() = atan2(dcm(1, 0), dcm(0, 0));
-        }
-    }
+		} else {
+			phi() = atan2(dcm(2, 1), dcm(2, 2));
+			psi() = atan2(dcm(1, 0), dcm(0, 0));
+		}
+	}
 
-    /**
-     * Constructor from quaternion instance.
-     *
-     * Instance is set from a quaternion representing transformation
-     * from frame 2 to frame 1.
-     * This instance will hold the angles defining the 3-2-1 intrinsic
-     * Tait-Bryan rotation sequence from frame 1 to frame 2.
-     *
-     * @param q quaternion
-    */
-    Euler(const Quaternion<Type> &q) : Vector<Type, 3>(Euler(Dcm<Type>(q)))
-    {
-    }
+	/**
+	 * Constructor from quaternion instance.
+	 *
+	 * Instance is set from a quaternion representing transformation
+	 * from frame 2 to frame 1.
+	 * This instance will hold the angles defining the 3-2-1 intrinsic
+	 * Tait-Bryan rotation sequence from frame 1 to frame 2.
+	 *
+	 * @param q quaternion
+	*/
+	Euler(const Quaternion<Type> &q) : Vector<Type, 3>(Euler(Dcm<Type>(q)))
+	{
+	}
 
-    inline Type phi() const
-    {
-        return (*this)(0);
-    }
-    inline Type theta() const
-    {
-        return (*this)(1);
-    }
-    inline Type psi() const
-    {
-        return (*this)(2);
-    }
+	inline Type phi() const
+	{
+		return (*this)(0);
+	}
+	inline Type theta() const
+	{
+		return (*this)(1);
+	}
+	inline Type psi() const
+	{
+		return (*this)(2);
+	}
 
-    inline Type &phi()
-    {
-        return (*this)(0);
-    }
-    inline Type &theta()
-    {
-        return (*this)(1);
-    }
-    inline Type &psi()
-    {
-        return (*this)(2);
-    }
+	inline Type &phi()
+	{
+		return (*this)(0);
+	}
+	inline Type &theta()
+	{
+		return (*this)(1);
+	}
+	inline Type &psi()
+	{
+		return (*this)(2);
+	}
 
 };
 
@@ -153,5 +153,3 @@ using Eulerf = Euler<float>;
 using Eulerd = Euler<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/LeastSquaresSolver.hpp

@@ -16,131 +16,149 @@
 
 #include "math.hpp"
 
-namespace matrix {
+namespace matrix
+{
 
 template<typename Type, size_t M, size_t N>
 class LeastSquaresSolver
 {
 public:
 
-    /**
-     * @brief Class calculates QR decomposition which can be used for linear
-     * least squares
-     * @param A Matrix of size MxN
-     *
-     * Initialize the class with a MxN matrix. The constructor starts the
-     * QR decomposition. This class does not check the rank of the matrix.
-     * The user needs to make sure that rank(A) = N and M >= N.
-     */
-    LeastSquaresSolver(const Matrix<Type, M, N> &A)
-    {
-        static_assert(M >= N, "Matrix dimension should be M >= N");
+	/**
+	 * @brief Class calculates QR decomposition which can be used for linear
+	 * least squares
+	 * @param A Matrix of size MxN
+	 *
+	 * Initialize the class with a MxN matrix. The constructor starts the
+	 * QR decomposition. This class does not check the rank of the matrix.
+	 * The user needs to make sure that rank(A) = N and M >= N.
+	 */
+	LeastSquaresSolver(const Matrix<Type, M, N> &A)
+	{
+		static_assert(M >= N, "Matrix dimension should be M >= N");
 
-        // Copy contentents of matrix A
-        _A = A;
+		// Copy contentents of matrix A
+		_A = A;
 
-        for (size_t j = 0; j < N; j++) {
-            Type normx = Type(0);
-            for (size_t i = j; i < M; i++) {
-                normx += _A(i,j) * _A(i,j);
-            }
-            normx = sqrt(normx);
-            Type s = _A(j,j) > 0 ? Type(-1) : Type(1);
-            Type u1 = _A(j,j) - s*normx;
-            // prevent divide by zero
-            // also covers u1. normx is never negative
-            if (normx < Type(1e-8)) {
-                break;
-            }
-            Type w[M] = {};
-            w[0] = Type(1);
-            for (size_t i = j+1; i < M; i++) {
-                w[i-j] = _A(i,j) / u1;
-                _A(i,j) = w[i-j];
-            }
-            _A(j,j) = s*normx;
-            _tau(j) = -s*u1/normx;
+		for (size_t j = 0; j < N; j++) {
+			Type normx = Type(0);
 
-            for (size_t k = j+1; k < N; k++) {
-                Type tmp = Type(0);
-                for (size_t i = j; i < M; i++) {
-                    tmp += w[i-j] * _A(i,k);
-                }
-                for (size_t i = j; i < M; i++) {
-                    _A(i,k) -= _tau(j) * w[i-j] * tmp;
-                }
-            }
+			for (size_t i = j; i < M; i++) {
+				normx += _A(i, j) * _A(i, j);
+			}
 
-        }
-    }
+			normx = sqrt(normx);
+			Type s = _A(j, j) > 0 ? Type(-1) : Type(1);
+			Type u1 = _A(j, j) - s * normx;
 
-    /**
-     * @brief qtb Calculate Q^T * b
-     * @param b
-     * @return Q^T*b
-     *
-     * This function calculates Q^T * b. This is useful for the solver
-     * because R*x = Q^T*b.
-     */
-    Vector<Type, M> qtb(const Vector<Type, M> &b) {
-        Vector<Type, M> qtbv = b;
+			// prevent divide by zero
+			// also covers u1. normx is never negative
+			if (normx < Type(1e-8)) {
+				break;
+			}
 
-        for (size_t j = 0; j < N; j++) {
-            Type w[M];
-            w[0] = Type(1);
-            // fill vector w
-            for (size_t i = j+1; i < M; i++) {
-                w[i-j] = _A(i,j);
-            }
-            Type tmp = Type(0);
-            for (size_t i = j; i < M; i++) {
-                tmp += w[i-j] * qtbv(i);
-            }
+			Type w[M] = {};
+			w[0] = Type(1);
 
-            for (size_t i = j; i < M; i++) {
-                qtbv(i) -= _tau(j) * w[i-j] * tmp;
-            }
-        }
-        return qtbv;
-    }
+			for (size_t i = j + 1; i < M; i++) {
+				w[i - j] = _A(i, j) / u1;
+				_A(i, j) = w[i - j];
+			}
 
-    /**
-     * @brief Solve Ax=b for x
-     * @param b
-     * @return Vector x
-     *
-     * Find x in the equation Ax = b.
-     * A is provided in the initializer of the class.
-     */
-    Vector<Type, N> solve(const Vector<Type, M> &b) {
-        Vector<Type, M> qtbv = qtb(b);
-        Vector<Type, N> x;
+			_A(j, j) = s * normx;
+			_tau(j) = -s * u1 / normx;
 
-        // size_t is unsigned and wraps i = 0 - 1 to i > N
-        for (size_t i = N - 1; i < N; i--) {
-            printf("i %d\n", static_cast<int>(i));
-            x(i) = qtbv(i);
-            for (size_t r = i+1; r < N; r++) {
-                x(i) -= _A(i,r) * x(r);
-            }
-            // divide by zero, return vector of zeros
-            if (isEqualF(_A(i,i), Type(0), Type(1e-8))) {
-                for (size_t z = 0; z < N; z++) {
-                    x(z) = Type(0);
-                }
-                break;
-            }
-            x(i) /= _A(i,i);
-        }
-        return x;
-    }
+			for (size_t k = j + 1; k < N; k++) {
+				Type tmp = Type(0);
+
+				for (size_t i = j; i < M; i++) {
+					tmp += w[i - j] * _A(i, k);
+				}
+
+				for (size_t i = j; i < M; i++) {
+					_A(i, k) -= _tau(j) * w[i - j] * tmp;
+				}
+			}
+
+		}
+	}
+
+	/**
+	 * @brief qtb Calculate Q^T * b
+	 * @param b
+	 * @return Q^T*b
+	 *
+	 * This function calculates Q^T * b. This is useful for the solver
+	 * because R*x = Q^T*b.
+	 */
+	Vector<Type, M> qtb(const Vector<Type, M> &b)
+	{
+		Vector<Type, M> qtbv = b;
+
+		for (size_t j = 0; j < N; j++) {
+			Type w[M];
+			w[0] = Type(1);
+
+			// fill vector w
+			for (size_t i = j + 1; i < M; i++) {
+				w[i - j] = _A(i, j);
+			}
+
+			Type tmp = Type(0);
+
+			for (size_t i = j; i < M; i++) {
+				tmp += w[i - j] * qtbv(i);
+			}
+
+			for (size_t i = j; i < M; i++) {
+				qtbv(i) -= _tau(j) * w[i - j] * tmp;
+			}
+		}
+
+		return qtbv;
+	}
+
+	/**
+	 * @brief Solve Ax=b for x
+	 * @param b
+	 * @return Vector x
+	 *
+	 * Find x in the equation Ax = b.
+	 * A is provided in the initializer of the class.
+	 */
+	Vector<Type, N> solve(const Vector<Type, M> &b)
+	{
+		Vector<Type, M> qtbv = qtb(b);
+		Vector<Type, N> x;
+
+		// size_t is unsigned and wraps i = 0 - 1 to i > N
+		for (size_t i = N - 1; i < N; i--) {
+			printf("i %d\n", static_cast<int>(i));
+			x(i) = qtbv(i);
+
+			for (size_t r = i + 1; r < N; r++) {
+				x(i) -= _A(i, r) * x(r);
+			}
+
+			// divide by zero, return vector of zeros
+			if (isEqualF(_A(i, i), Type(0), Type(1e-8))) {
+				for (size_t z = 0; z < N; z++) {
+					x(z) = Type(0);
+				}
+
+				break;
+			}
+
+			x(i) /= _A(i, i);
+		}
+
+		return x;
+	}
 
 private:
-    Matrix<Type, M, N> _A;
-    Vector<Type, N> _tau;
+	Matrix<Type, M, N> _A;
+	Vector<Type, N> _tau;
 
 };
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/PseudoInverse.hpp

@@ -21,38 +21,44 @@ namespace matrix
  * Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809
  */
 template<typename Type, size_t M, size_t N>
-bool geninv(const Matrix<Type, M, N> & G, Matrix<Type, N, M>& res)
+bool geninv(const Matrix<Type, M, N> &G, Matrix<Type, N, M> &res)
 {
-    size_t rank;
-    if (M <= N) {
-        SquareMatrix<Type, M> A = G * G.transpose();
-        SquareMatrix<Type, M> L = fullRankCholesky(A, rank);
+	size_t rank;
 
-        A = L.transpose() * L;
-        SquareMatrix<Type, M> X;
-        if (!inv(A, X, rank)) {
-            res = Matrix<Type, N, M>();
-            return false; // LCOV_EXCL_LINE -- this can only be hit from numerical issues
-        }
-        // doing an intermediate assignment reduces stack usage
-        A = X * X * L.transpose();
-        res = G.transpose() * (L * A);
+	if (M <= N) {
+		SquareMatrix<Type, M> A = G * G.transpose();
+		SquareMatrix<Type, M> L = fullRankCholesky(A, rank);
 
-    } else {
-        SquareMatrix<Type, N> A = G.transpose() * G;
-        SquareMatrix<Type, N> L = fullRankCholesky(A, rank);
+		A = L.transpose() * L;
+		SquareMatrix<Type, M> X;
 
-        A = L.transpose() * L;
-        SquareMatrix<Type, N> X;
-        if(!inv(A, X, rank)) {
-            res = Matrix<Type, N, M>();
-            return false; // LCOV_EXCL_LINE -- this can only be hit from numerical issues
-        }
-        // doing an intermediate assignment reduces stack usage
-        A = X * X * L.transpose();
-        res = (L * A) * G.transpose();
-    }
-    return true;
+		if (!inv(A, X, rank)) {
+			res = Matrix<Type, N, M>();
+			return false; // LCOV_EXCL_LINE -- this can only be hit from numerical issues
+		}
+
+		// doing an intermediate assignment reduces stack usage
+		A = X * X * L.transpose();
+		res = G.transpose() * (L * A);
+
+	} else {
+		SquareMatrix<Type, N> A = G.transpose() * G;
+		SquareMatrix<Type, N> L = fullRankCholesky(A, rank);
+
+		A = L.transpose() * L;
+		SquareMatrix<Type, N> X;
+
+		if (!inv(A, X, rank)) {
+			res = Matrix<Type, N, M>();
+			return false; // LCOV_EXCL_LINE -- this can only be hit from numerical issues
+		}
+
+		// doing an intermediate assignment reduces stack usage
+		A = X * X * L.transpose();
+		res = (L * A) * G.transpose();
+	}
+
+	return true;
 }
 
 
@@ -62,58 +68,60 @@ Type typeEpsilon();
 template<> inline
 float typeEpsilon<float>()
 {
-    return FLT_EPSILON;
+	return FLT_EPSILON;
 }
 
 /**
  * Full rank Cholesky factorization of A
  */
 template<typename Type, size_t N>
-SquareMatrix<Type, N> fullRankCholesky(const SquareMatrix<Type, N> & A,
-                                       size_t& rank)
+SquareMatrix<Type, N> fullRankCholesky(const SquareMatrix<Type, N> &A,
+				       size_t &rank)
 {
-    // Loses one ulp accuracy per row of diag, relative to largest magnitude
-    const Type tol = N * typeEpsilon<Type>() * A.diag().max();
+	// Loses one ulp accuracy per row of diag, relative to largest magnitude
+	const Type tol = N * typeEpsilon<Type>() * A.diag().max();
 
-    Matrix<Type, N, N> L;
+	Matrix<Type, N, N> L;
 
-    size_t r = 0;
-    for (size_t k = 0; k < N; k++) {
+	size_t r = 0;
 
-        if (r == 0) {
-            for (size_t i = k; i < N; i++) {
-                L(i, r) = A(i, k);
-            }
+	for (size_t k = 0; k < N; k++) {
 
-        } else {
-            for (size_t i = k; i < N; i++) {
-                // Compute LL = L[k:n, :r] * L[k, :r].T
-                Type LL = Type();
-                for (size_t j = 0; j < r; j++) {
-                    LL += L(i, j) * L(k, j);
-                }
-                L(i, r) = A(i, k) - LL;
-            }
-        }
-        if (L(k, r) > tol) {
-            L(k, r) = sqrt(L(k, r));
+		if (r == 0) {
+			for (size_t i = k; i < N; i++) {
+				L(i, r) = A(i, k);
+			}
 
-            if (k < N - 1) {
-                for (size_t i = k + 1; i < N; i++) {
-                    L(i, r) = L(i, r) / L(k, r);
-                }
-            }
+		} else {
+			for (size_t i = k; i < N; i++) {
+				// Compute LL = L[k:n, :r] * L[k, :r].T
+				Type LL = Type();
 
-            r = r + 1;
-        }
-    }
+				for (size_t j = 0; j < r; j++) {
+					LL += L(i, j) * L(k, j);
+				}
 
-    // Return rank
-    rank = r;
+				L(i, r) = A(i, k) - LL;
+			}
+		}
 
-    return L;
+		if (L(k, r) > tol) {
+			L(k, r) = sqrt(L(k, r));
+
+			if (k < N - 1) {
+				for (size_t i = k + 1; i < N; i++) {
+					L(i, r) = L(i, r) / L(k, r);
+				}
+			}
+
+			r = r + 1;
+		}
+	}
+
+	// Return rank
+	rank = r;
+
+	return L;
 }
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Quaternion.hpp

@@ -53,472 +53,492 @@ template<typename Type>
 class Quaternion : public Vector<Type, 4>
 {
 public:
-    using Matrix41 = Matrix<Type, 4, 1>;
-    using Matrix31 = Matrix<Type, 3, 1>;
+	using Matrix41 = Matrix<Type, 4, 1>;
+	using Matrix31 = Matrix<Type, 3, 1>;
 
-    /**
-     * Constructor from array
-     *
-     * @param data_ array
-     */
-    explicit Quaternion(const Type data_[4]) :
-        Vector<Type, 4>(data_)
-    {
-    }
+	/**
+	 * Constructor from array
+	 *
+	 * @param data_ array
+	 */
+	explicit Quaternion(const Type data_[4]) :
+		Vector<Type, 4>(data_)
+	{
+	}
 
-    /**
-     * Standard constructor
-     */
-    Quaternion()
-    {
-        Quaternion &q = *this;
-        q(0) = 1;
-        q(1) = 0;
-        q(2) = 0;
-        q(3) = 0;
-    }
+	/**
+	 * Standard constructor
+	 */
+	Quaternion()
+	{
+		Quaternion &q = *this;
+		q(0) = 1;
+		q(1) = 0;
+		q(2) = 0;
+		q(3) = 0;
+	}
 
-    /**
-     * Constructor from Matrix41
-     *
-     * @param other Matrix41 to copy
-     */
-    Quaternion(const Matrix41 &other) :
-        Vector<Type, 4>(other)
-    {
-    }
+	/**
+	 * Constructor from Matrix41
+	 *
+	 * @param other Matrix41 to copy
+	 */
+	Quaternion(const Matrix41 &other) :
+		Vector<Type, 4>(other)
+	{
+	}
 
-    /**
-     * Constructor from dcm
-     *
-     * Instance is initialized from a dcm representing coordinate transformation
-     * from frame 2 to frame 1.
-     *
-     * @param dcm dcm to set quaternion to
-     */
-    Quaternion(const Dcm<Type> &R)
-    {
-        Quaternion &q = *this;
-        Type t = R.trace();
-        if (t > Type(0)) {
-            t = sqrt(Type(1) + t);
-            q(0) = Type(0.5) * t;
-            t = Type(0.5) / t;
-            q(1) = (R(2,1) - R(1,2)) * t;
-            q(2) = (R(0,2) - R(2,0)) * t;
-            q(3) = (R(1,0) - R(0,1)) * t;
-        } else if (R(0,0) > R(1,1) && R(0,0) > R(2,2)) {
-            t = sqrt(Type(1) + R(0,0) - R(1,1) - R(2,2));
-            q(1) = Type(0.5) * t;
-            t = Type(0.5) / t;
-            q(0) = (R(2,1) - R(1,2)) * t;
-            q(2) = (R(1,0) + R(0,1)) * t;
-            q(3) = (R(0,2) + R(2,0)) * t;
-        } else if (R(1,1) > R(2,2)) {
-            t = sqrt(Type(1) - R(0,0) + R(1,1) - R(2,2));
-            q(2) = Type(0.5) * t;
-            t = Type(0.5) / t;
-            q(0) = (R(0,2) - R(2,0)) * t;
-            q(1) = (R(1,0) + R(0,1)) * t;
-            q(3) = (R(2,1) + R(1,2)) * t;
-        } else {
-            t = sqrt(Type(1) - R(0,0) - R(1,1) + R(2,2));
-            q(3) = Type(0.5) * t;
-            t = Type(0.5) / t;
-            q(0) = (R(1,0) - R(0,1)) * t;
-            q(1) = (R(0,2) + R(2,0)) * t;
-            q(2) = (R(2,1) + R(1,2)) * t;
-        }
-    }
+	/**
+	 * Constructor from dcm
+	 *
+	 * Instance is initialized from a dcm representing coordinate transformation
+	 * from frame 2 to frame 1.
+	 *
+	 * @param dcm dcm to set quaternion to
+	 */
+	Quaternion(const Dcm<Type> &R)
+	{
+		Quaternion &q = *this;
+		Type t = R.trace();
 
-    /**
-     * Constructor from euler angles
-     *
-     * This sets the instance to a quaternion representing coordinate transformation from
-     * frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
-     * by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
-     *
-     * @param euler euler angle instance
-     */
-    Quaternion(const Euler<Type> &euler)
-    {
-        Quaternion &q = *this;
-        Type cosPhi_2 = Type(cos(euler.phi() / Type(2)));
-        Type cosTheta_2 = Type(cos(euler.theta() / Type(2)));
-        Type cosPsi_2 = Type(cos(euler.psi() / Type(2)));
-        Type sinPhi_2 = Type(sin(euler.phi() / Type(2)));
-        Type sinTheta_2 = Type(sin(euler.theta() / Type(2)));
-        Type sinPsi_2 = Type(sin(euler.psi() / Type(2)));
-        q(0) = cosPhi_2 * cosTheta_2 * cosPsi_2 +
-               sinPhi_2 * sinTheta_2 * sinPsi_2;
-        q(1) = sinPhi_2 * cosTheta_2 * cosPsi_2 -
-               cosPhi_2 * sinTheta_2 * sinPsi_2;
-        q(2) = cosPhi_2 * sinTheta_2 * cosPsi_2 +
-               sinPhi_2 * cosTheta_2 * sinPsi_2;
-        q(3) = cosPhi_2 * cosTheta_2 * sinPsi_2 -
-               sinPhi_2 * sinTheta_2 * cosPsi_2;
-    }
+		if (t > Type(0)) {
+			t = sqrt(Type(1) + t);
+			q(0) = Type(0.5) * t;
+			t = Type(0.5) / t;
+			q(1) = (R(2, 1) - R(1, 2)) * t;
+			q(2) = (R(0, 2) - R(2, 0)) * t;
+			q(3) = (R(1, 0) - R(0, 1)) * t;
 
-    /**
-     * Quaternion from AxisAngle
-     *
-     * @param aa axis-angle vector
-     */
-    Quaternion(const AxisAngle<Type> &aa)
-    {
-        Quaternion &q = *this;
-        Type angle = aa.norm();
-        Vector<Type, 3> axis = aa.unit();
-        if (angle < Type(1e-10)) {
-            q(0) = Type(1);
-            q(1) = q(2) = q(3) = 0;
-        } else {
-            Type magnitude = sin(angle / Type(2));
-            q(0) = cos(angle / Type(2));
-            q(1) = axis(0) * magnitude;
-            q(2) = axis(1) * magnitude;
-            q(3) = axis(2) * magnitude;
-        }
-    }
+		} else if (R(0, 0) > R(1, 1) && R(0, 0) > R(2, 2)) {
+			t = sqrt(Type(1) + R(0, 0) - R(1, 1) - R(2, 2));
+			q(1) = Type(0.5) * t;
+			t = Type(0.5) / t;
+			q(0) = (R(2, 1) - R(1, 2)) * t;
+			q(2) = (R(1, 0) + R(0, 1)) * t;
+			q(3) = (R(0, 2) + R(2, 0)) * t;
 
-    /**
-     * Quaternion from two vectors
-     * Generates shortest rotation from source to destination vector
-     *
-     * @param dst destination vector (no need to normalize)
-     * @param src source vector (no need to normalize)
-     * @param eps epsilon threshold which decides if a value is considered zero
-     */
-    Quaternion(const Vector3<Type> &src, const Vector3<Type> &dst, const Type eps = Type(1e-5))
-    {
-        Quaternion &q = *this;
-        Vector3<Type> cr = src.cross(dst);
-        const float dt = src.dot(dst);
-        if (cr.norm() < eps && dt < 0) {
-            // handle corner cases with 180 degree rotations
-            // if the two vectors are parallel, cross product is zero
-            // if they point opposite, the dot product is negative
-            cr = src.abs();
-            if (cr(0) < cr(1)) {
-                if (cr(0) < cr(2)) {
-                    cr = Vector3<Type>(1, 0, 0);
-                } else {
-                    cr = Vector3<Type>(0, 0, 1);
-                }
-            } else {
-                if (cr(1) < cr(2)) {
-                    cr = Vector3<Type>(0, 1, 0);
-                } else {
-                    cr = Vector3<Type>(0, 0, 1);
-                }
-            }
-            q(0) = Type(0);
-            cr = src.cross(cr);
-        } else {
-            // normal case, do half-way quaternion solution
-            q(0) = dt + sqrt(src.norm_squared() * dst.norm_squared());
-        }
-        q(1) = cr(0);
-        q(2) = cr(1);
-        q(3) = cr(2);
-        q.normalize();
-    }
+		} else if (R(1, 1) > R(2, 2)) {
+			t = sqrt(Type(1) - R(0, 0) + R(1, 1) - R(2, 2));
+			q(2) = Type(0.5) * t;
+			t = Type(0.5) / t;
+			q(0) = (R(0, 2) - R(2, 0)) * t;
+			q(1) = (R(1, 0) + R(0, 1)) * t;
+			q(3) = (R(2, 1) + R(1, 2)) * t;
 
-    /**
-     * Constructor from quaternion values
-     *
-     * Instance is initialized from quaternion values representing coordinate
-     * transformation from frame 2 to frame 1.
-     * A zero-rotation quaternion is represented by (1,0,0,0).
-     *
-     * @param a set quaternion value 0
-     * @param b set quaternion value 1
-     * @param c set quaternion value 2
-     * @param d set quaternion value 3
-     */
-    Quaternion(Type a, Type b, Type c, Type d)
-    {
-        Quaternion &q = *this;
-        q(0) = a;
-        q(1) = b;
-        q(2) = c;
-        q(3) = d;
-    }
+		} else {
+			t = sqrt(Type(1) - R(0, 0) - R(1, 1) + R(2, 2));
+			q(3) = Type(0.5) * t;
+			t = Type(0.5) / t;
+			q(0) = (R(1, 0) - R(0, 1)) * t;
+			q(1) = (R(0, 2) + R(2, 0)) * t;
+			q(2) = (R(2, 1) + R(1, 2)) * t;
+		}
+	}
 
-    /**
-     * Quaternion multiplication operator
-     *
-     * @param q quaternion to multiply with
-     * @return product
-     */
-    Quaternion operator*(const Quaternion &p) const
-    {
-        const Quaternion &q = *this;
-        return {
-            q(0) * p(0) - q(1) * p(1) - q(2) * p(2) - q(3) * p(3),
-            q(1) * p(0) + q(0) * p(1) - q(3) * p(2) + q(2) * p(3),
-            q(2) * p(0) + q(3) * p(1) + q(0) * p(2) - q(1) * p(3),
-            q(3) * p(0) - q(2) * p(1) + q(1) * p(2) + q(0) * p(3) };
-    }
+	/**
+	 * Constructor from euler angles
+	 *
+	 * This sets the instance to a quaternion representing coordinate transformation from
+	 * frame 2 to frame 1 where the rotation from frame 1 to frame 2 is described
+	 * by a 3-2-1 intrinsic Tait-Bryan rotation sequence.
+	 *
+	 * @param euler euler angle instance
+	 */
+	Quaternion(const Euler<Type> &euler)
+	{
+		Quaternion &q = *this;
+		Type cosPhi_2 = Type(cos(euler.phi() / Type(2)));
+		Type cosTheta_2 = Type(cos(euler.theta() / Type(2)));
+		Type cosPsi_2 = Type(cos(euler.psi() / Type(2)));
+		Type sinPhi_2 = Type(sin(euler.phi() / Type(2)));
+		Type sinTheta_2 = Type(sin(euler.theta() / Type(2)));
+		Type sinPsi_2 = Type(sin(euler.psi() / Type(2)));
+		q(0) = cosPhi_2 * cosTheta_2 * cosPsi_2 +
+		       sinPhi_2 * sinTheta_2 * sinPsi_2;
+		q(1) = sinPhi_2 * cosTheta_2 * cosPsi_2 -
+		       cosPhi_2 * sinTheta_2 * sinPsi_2;
+		q(2) = cosPhi_2 * sinTheta_2 * cosPsi_2 +
+		       sinPhi_2 * cosTheta_2 * sinPsi_2;
+		q(3) = cosPhi_2 * cosTheta_2 * sinPsi_2 -
+		       sinPhi_2 * sinTheta_2 * cosPsi_2;
+	}
 
-    /**
-     * Self-multiplication operator
-     *
-     * @param other quaternion to multiply with
-     */
-    void operator*=(const Quaternion &other)
-    {
-        Quaternion &self = *this;
-        self = self * other;
-    }
+	/**
+	 * Quaternion from AxisAngle
+	 *
+	 * @param aa axis-angle vector
+	 */
+	Quaternion(const AxisAngle<Type> &aa)
+	{
+		Quaternion &q = *this;
+		Type angle = aa.norm();
+		Vector<Type, 3> axis = aa.unit();
 
-    /**
-     * Scalar multiplication operator
-     *
-     * @param scalar scalar to multiply with
-     * @return product
-     */
-    Quaternion operator*(Type scalar) const
-    {
-        const Quaternion &q = *this;
-        return scalar * q;
-    }
+		if (angle < Type(1e-10)) {
+			q(0) = Type(1);
+			q(1) = q(2) = q(3) = 0;
 
-    /**
-     * Scalar self-multiplication operator
-     *
-     * @param scalar scalar to multiply with
-     */
-    void operator*=(Type scalar)
-    {
-        Quaternion &q = *this;
-        q = q * scalar;
-    }
+		} else {
+			Type magnitude = sin(angle / Type(2));
+			q(0) = cos(angle / Type(2));
+			q(1) = axis(0) * magnitude;
+			q(2) = axis(1) * magnitude;
+			q(3) = axis(2) * magnitude;
+		}
+	}
 
-    /**
-     * Computes the derivative of q_21 when
-     * rotated with angular velocity expressed in frame 1
-     * v_2 = q_21 * v_1 * q_21^-1
-     * d/dt q_21 = 0.5 * q_21 * omega_2
-     *
-     * @param w angular rate in frame 1 (typically body frame)
-     */
-    Matrix41 derivative1(const Matrix31 &w) const
-    {
-        const Quaternion &q = *this;
-        Quaternion<Type> v(0, w(0, 0), w(1, 0), w(2, 0));
-        return q * v  * Type(0.5);
-    }
+	/**
+	 * Quaternion from two vectors
+	 * Generates shortest rotation from source to destination vector
+	 *
+	 * @param dst destination vector (no need to normalize)
+	 * @param src source vector (no need to normalize)
+	 * @param eps epsilon threshold which decides if a value is considered zero
+	 */
+	Quaternion(const Vector3<Type> &src, const Vector3<Type> &dst, const Type eps = Type(1e-5))
+	{
+		Quaternion &q = *this;
+		Vector3<Type> cr = src.cross(dst);
+		const float dt = src.dot(dst);
 
-    /**
-     * Computes the derivative of q_21 when
-     * rotated with angular velocity expressed in frame 2
-     * v_2 = q_21 * v_1 * q_21^-1
-     * d/dt q_21 = 0.5 * omega_1 * q_21
-     *
-     * @param w angular rate in frame 2 (typically reference frame)
-     */
-    Matrix41 derivative2(const Matrix31 &w) const
-    {
-        const Quaternion &q = *this;
-        Quaternion<Type> v(0, w(0, 0), w(1, 0), w(2, 0));
-        return v * q  * Type(0.5);
-    }
+		if (cr.norm() < eps && dt < 0) {
+			// handle corner cases with 180 degree rotations
+			// if the two vectors are parallel, cross product is zero
+			// if they point opposite, the dot product is negative
+			cr = src.abs();
 
-    /**
-      * Computes the quaternion exponential of the 3D vector u
-      * as proposed in
-      * [1] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration
-      *     for the Quaternion Kinematics".Journal of Guidance, Control, and Dynamics. 2019
-      *
-      * return a quaternion computed as
-      * expq(u)=[cos||u||, sinc||u||*u]
-      * sinc(x)=sin(x)/x in the sin cardinal function
-      *
-      * This can be used to update a quaternion from the body rates
-      * rather than using
-      * qk+1=qk+qk.derivative1(wb)*dt
-      * we can use
-      * qk+1=qk*expq(dt*wb/2)
-      * which is a more robust update.
-      * A re-normalization step might necessary with both methods.
-      *
-      * @param u 3D vector u
-      */
-    static Quaternion expq(const Vector3<Type> &u)
-    {
-        const Type tol = Type(0.2);           // ensures an error < 10^-10
-        const Type c2 = Type(1.0 / 2.0);      // 1 / 2!
-        const Type c3 = Type(1.0 / 6.0);      // 1 / 3!
-        const Type c4 = Type(1.0 / 24.0);     // 1 / 4!
-        const Type c5 = Type(1.0 / 120.0);    // 1 / 5!
-        const Type c6 = Type(1.0 / 720.0);    // 1 / 6!
-        const Type c7 = Type(1.0 / 5040.0);   // 1 / 7!
+			if (cr(0) < cr(1)) {
+				if (cr(0) < cr(2)) {
+					cr = Vector3<Type>(1, 0, 0);
 
-        Type u_norm = u.norm();
-        Type sinc_u, cos_u;
+				} else {
+					cr = Vector3<Type>(0, 0, 1);
+				}
 
-        if (u_norm < tol) {
-            Type u2 = u_norm * u_norm;
-            Type u4 = u2 * u2;
-            Type u6 = u4 * u2;
+			} else {
+				if (cr(1) < cr(2)) {
+					cr = Vector3<Type>(0, 1, 0);
 
-            // compute the first 4 terms of the Taylor serie
-            sinc_u = Type(1.0) - u2 * c3 + u4 * c5 - u6 * c7;
-            cos_u = Type(1.0) - u2 * c2 + u4 * c4 - u6 * c6;
-        } else {
-            sinc_u = Type(sin(u_norm) / u_norm);
-            cos_u = Type(cos(u_norm));
-        }
-        Vector<Type, 3> v = sinc_u * u;
-        return Quaternion<Type> (cos_u, v(0), v(1), v(2));
-    }
+				} else {
+					cr = Vector3<Type>(0, 0, 1);
+				}
+			}
 
-    /** inverse right Jacobian of the quaternion logarithm u
-      * equation (20) in reference
-      * [1] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration
-      *     for the Quaternion Kinematics".Journal of Guidance, Control, and Dynamics. 2019
-      *
-      * This can be used to update a quaternion kinematic cleanly
-      * with higher order integration methods (like RK4) on the quaternion logarithm u.
-      *
-      * @param u 3D vector u
-      */
-    static Dcm<Type> inv_r_jacobian (const Vector3<Type> &u)
-    {
-        const Type tol = Type(1.0e-4);
-        Type u_norm = u.norm();
-        Dcm<Type> u_hat = u.hat();
+			q(0) = Type(0);
+			cr = src.cross(cr);
 
-        if (u_norm < tol) { 	// result smaller than O(||.||^3)
-            return Type(0.5) * (Dcm<Type>() + u_hat + (Type(1.0 / 3.0) + u_norm * u_norm / Type(45.0)) * u_hat * u_hat);
-        } else {
-            return Type(0.5) * (Dcm<Type>() + u_hat + (Type(1.0) - u_norm * Type(cos(u_norm) / sin(u_norm))) / (u_norm * u_norm) * u_hat * u_hat);
-        }
-    }
+		} else {
+			// normal case, do half-way quaternion solution
+			q(0) = dt + sqrt(src.norm_squared() * dst.norm_squared());
+		}
 
-    /**
-     * Invert quaternion in place
-     */
-    void invert()
-    {
-        *this = this->inversed();
-    }
+		q(1) = cr(0);
+		q(2) = cr(1);
+		q(3) = cr(2);
+		q.normalize();
+	}
 
-    /**
-     * Invert quaternion
-     *
-     * @return inverted quaternion
-     */
-    Quaternion inversed() const
-    {
-        const Quaternion &q = *this;
-        Type normSq = q.dot(q);
-        return Quaternion(
-                   q(0)/normSq,
-                   -q(1)/normSq,
-                   -q(2)/normSq,
-                   -q(3)/normSq);
-    }
+	/**
+	 * Constructor from quaternion values
+	 *
+	 * Instance is initialized from quaternion values representing coordinate
+	 * transformation from frame 2 to frame 1.
+	 * A zero-rotation quaternion is represented by (1,0,0,0).
+	 *
+	 * @param a set quaternion value 0
+	 * @param b set quaternion value 1
+	 * @param c set quaternion value 2
+	 * @param d set quaternion value 3
+	 */
+	Quaternion(Type a, Type b, Type c, Type d)
+	{
+		Quaternion &q = *this;
+		q(0) = a;
+		q(1) = b;
+		q(2) = c;
+		q(3) = d;
+	}
 
-    /**
-     * Bring quaternion to canonical form
-     */
-    void canonicalize()
-    {
-        *this = this->canonical();
-    }
+	/**
+	 * Quaternion multiplication operator
+	 *
+	 * @param q quaternion to multiply with
+	 * @return product
+	 */
+	Quaternion operator*(const Quaternion &p) const
+	{
+		const Quaternion &q = *this;
+		return {
+			q(0) *p(0) - q(1) *p(1) - q(2) *p(2) - q(3) *p(3),
+			q(1) *p(0) + q(0) *p(1) - q(3) *p(2) + q(2) *p(3),
+			q(2) *p(0) + q(3) *p(1) + q(0) *p(2) - q(1) *p(3),
+			q(3) *p(0) - q(2) *p(1) + q(1) *p(2) + q(0) *p(3) };
+	}
 
-    /**
-     * Return canonical form of the quaternion
-     *
-     * @return quaternion in canonical from
-     */
-    Quaternion canonical() const
-    {
-        const Quaternion &q = *this;
+	/**
+	 * Self-multiplication operator
+	 *
+	 * @param other quaternion to multiply with
+	 */
+	void operator*=(const Quaternion &other)
+	{
+		Quaternion &self = *this;
+		self = self * other;
+	}
 
-        for (size_t i = 0; i < 4; i++) {
-            if (fabs(q(i)) > FLT_EPSILON) {
-                return q * Type(matrix::sign(q(i)));
-            }
-        }
-        return q;
-    }
+	/**
+	 * Scalar multiplication operator
+	 *
+	 * @param scalar scalar to multiply with
+	 * @return product
+	 */
+	Quaternion operator*(Type scalar) const
+	{
+		const Quaternion &q = *this;
+		return scalar * q;
+	}
 
-    /**
-     * Rotate quaternion from rotation vector
-     *
-     * @param vec rotation vector
-     */
-    void rotate(const AxisAngle<Type> &vec)
-    {
-        Quaternion res(vec);
-        (*this) = res * (*this);
-    }
+	/**
+	 * Scalar self-multiplication operator
+	 *
+	 * @param scalar scalar to multiply with
+	 */
+	void operator*=(Type scalar)
+	{
+		Quaternion &q = *this;
+		q = q * scalar;
+	}
 
-    /**
-     * Rotates vector v_1 in frame 1 to vector v_2 in frame 2
-     * using the rotation quaternion q_21
-     * describing the rotation from frame 1 to 2
-     * v_2 = q_21 * v_1 * q_21^-1
-     *
-     * @param vec vector to rotate in frame 1 (typically body frame)
-     * @return rotated vector in frame 2 (typically reference frame)
-     */
-    Vector3<Type> conjugate(const Vector3<Type> &vec) const {
-        const Quaternion& q = *this;
-        Quaternion v(Type(0), vec(0), vec(1), vec(2));
-        Quaternion res = q*v*q.inversed();
-        return Vector3<Type>(res(1), res(2), res(3));
-    }
+	/**
+	 * Computes the derivative of q_21 when
+	 * rotated with angular velocity expressed in frame 1
+	 * v_2 = q_21 * v_1 * q_21^-1
+	 * d/dt q_21 = 0.5 * q_21 * omega_2
+	 *
+	 * @param w angular rate in frame 1 (typically body frame)
+	 */
+	Matrix41 derivative1(const Matrix31 &w) const
+	{
+		const Quaternion &q = *this;
+		Quaternion<Type> v(0, w(0, 0), w(1, 0), w(2, 0));
+		return q * v  * Type(0.5);
+	}
 
-    /**
-     * Rotates vector v_2 in frame 2 to vector v_1 in frame 1
-     * using the rotation quaternion q_21
-     * describing the rotation from frame 1 to 2
-     * v_1 = q_21^-1 * v_2 * q_21
-     *
-     * @param vec vector to rotate in frame 2 (typically reference frame)
-     * @return rotated vector in frame 1 (typically body frame)
-     */
-    Vector3<Type> conjugate_inversed(const Vector3<Type> &vec) const
-    {
-        const Quaternion& q = *this;
-        Quaternion v(Type(0), vec(0), vec(1), vec(2));
-        Quaternion res = q.inversed()*v*q;
-        return Vector3<Type>(res(1), res(2), res(3));
-    }
+	/**
+	 * Computes the derivative of q_21 when
+	 * rotated with angular velocity expressed in frame 2
+	 * v_2 = q_21 * v_1 * q_21^-1
+	 * d/dt q_21 = 0.5 * omega_1 * q_21
+	 *
+	 * @param w angular rate in frame 2 (typically reference frame)
+	 */
+	Matrix41 derivative2(const Matrix31 &w) const
+	{
+		const Quaternion &q = *this;
+		Quaternion<Type> v(0, w(0, 0), w(1, 0), w(2, 0));
+		return v * q  * Type(0.5);
+	}
 
-    /**
-     * Imaginary components of quaternion
-     */
-    Vector3<Type> imag() const
-    {
-        const Quaternion &q = *this;
-        return Vector3<Type>(q(1), q(2), q(3));
-    }
+	/**
+	  * Computes the quaternion exponential of the 3D vector u
+	  * as proposed in
+	  * [1] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration
+	  *     for the Quaternion Kinematics".Journal of Guidance, Control, and Dynamics. 2019
+	  *
+	  * return a quaternion computed as
+	  * expq(u)=[cos||u||, sinc||u||*u]
+	  * sinc(x)=sin(x)/x in the sin cardinal function
+	  *
+	  * This can be used to update a quaternion from the body rates
+	  * rather than using
+	  * qk+1=qk+qk.derivative1(wb)*dt
+	  * we can use
+	  * qk+1=qk*expq(dt*wb/2)
+	  * which is a more robust update.
+	  * A re-normalization step might necessary with both methods.
+	  *
+	  * @param u 3D vector u
+	  */
+	static Quaternion expq(const Vector3<Type> &u)
+	{
+		const Type tol = Type(0.2);           // ensures an error < 10^-10
+		const Type c2 = Type(1.0 / 2.0);      // 1 / 2!
+		const Type c3 = Type(1.0 / 6.0);      // 1 / 3!
+		const Type c4 = Type(1.0 / 24.0);     // 1 / 4!
+		const Type c5 = Type(1.0 / 120.0);    // 1 / 5!
+		const Type c6 = Type(1.0 / 720.0);    // 1 / 6!
+		const Type c7 = Type(1.0 / 5040.0);   // 1 / 7!
 
-    /**
-     * Corresponding body z-axis to an attitude quaternion /
-     * last orthogonal unit basis vector
-     *
-     * == last column of the equivalent rotation matrix
-     * but calculated more efficiently than a full conversion
-     */
-    Vector3<Type> dcm_z() const
-    {
-        const Quaternion &q = *this;
-        Vector3<Type> R_z;
-        const Type a = q(0);
-        const Type b = q(1);
-        const Type c = q(2);
-        const Type d = q(3);
-        R_z(0) = 2 * (a * c + b * d);
-        R_z(1) = 2 * (c * d - a * b);
-        R_z(2) = a * a - b * b - c * c + d * d;
-        return R_z;
-    }
+		Type u_norm = u.norm();
+		Type sinc_u, cos_u;
+
+		if (u_norm < tol) {
+			Type u2 = u_norm * u_norm;
+			Type u4 = u2 * u2;
+			Type u6 = u4 * u2;
+
+			// compute the first 4 terms of the Taylor serie
+			sinc_u = Type(1.0) - u2 * c3 + u4 * c5 - u6 * c7;
+			cos_u = Type(1.0) - u2 * c2 + u4 * c4 - u6 * c6;
+
+		} else {
+			sinc_u = Type(sin(u_norm) / u_norm);
+			cos_u = Type(cos(u_norm));
+		}
+
+		Vector<Type, 3> v = sinc_u * u;
+		return Quaternion<Type> (cos_u, v(0), v(1), v(2));
+	}
+
+	/** inverse right Jacobian of the quaternion logarithm u
+	  * equation (20) in reference
+	  * [1] Sveier A, Sjøberg AM, Egeland O. "Applied Runge–Kutta–Munthe-Kaas Integration
+	  *     for the Quaternion Kinematics".Journal of Guidance, Control, and Dynamics. 2019
+	  *
+	  * This can be used to update a quaternion kinematic cleanly
+	  * with higher order integration methods (like RK4) on the quaternion logarithm u.
+	  *
+	  * @param u 3D vector u
+	  */
+	static Dcm<Type> inv_r_jacobian(const Vector3<Type> &u)
+	{
+		const Type tol = Type(1.0e-4);
+		Type u_norm = u.norm();
+		Dcm<Type> u_hat = u.hat();
+
+		if (u_norm < tol) { 	// result smaller than O(||.||^3)
+			return Type(0.5) * (Dcm<Type>() + u_hat + (Type(1.0 / 3.0) + u_norm * u_norm / Type(45.0)) * u_hat * u_hat);
+
+		} else {
+			return Type(0.5) * (Dcm<Type>() + u_hat + (Type(1.0) - u_norm * Type(cos(u_norm) / sin(u_norm))) /
+					    (u_norm * u_norm) * u_hat * u_hat);
+		}
+	}
+
+	/**
+	 * Invert quaternion in place
+	 */
+	void invert()
+	{
+		*this = this->inversed();
+	}
+
+	/**
+	 * Invert quaternion
+	 *
+	 * @return inverted quaternion
+	 */
+	Quaternion inversed() const
+	{
+		const Quaternion &q = *this;
+		Type normSq = q.dot(q);
+		return Quaternion(
+			       q(0) / normSq,
+			       -q(1) / normSq,
+			       -q(2) / normSq,
+			       -q(3) / normSq);
+	}
+
+	/**
+	 * Bring quaternion to canonical form
+	 */
+	void canonicalize()
+	{
+		*this = this->canonical();
+	}
+
+	/**
+	 * Return canonical form of the quaternion
+	 *
+	 * @return quaternion in canonical from
+	 */
+	Quaternion canonical() const
+	{
+		const Quaternion &q = *this;
+
+		for (size_t i = 0; i < 4; i++) {
+			if (fabs(q(i)) > FLT_EPSILON) {
+				return q * Type(matrix::sign(q(i)));
+			}
+		}
+
+		return q;
+	}
+
+	/**
+	 * Rotate quaternion from rotation vector
+	 *
+	 * @param vec rotation vector
+	 */
+	void rotate(const AxisAngle<Type> &vec)
+	{
+		Quaternion res(vec);
+		(*this) = res * (*this);
+	}
+
+	/**
+	 * Rotates vector v_1 in frame 1 to vector v_2 in frame 2
+	 * using the rotation quaternion q_21
+	 * describing the rotation from frame 1 to 2
+	 * v_2 = q_21 * v_1 * q_21^-1
+	 *
+	 * @param vec vector to rotate in frame 1 (typically body frame)
+	 * @return rotated vector in frame 2 (typically reference frame)
+	 */
+	Vector3<Type> conjugate(const Vector3<Type> &vec) const
+	{
+		const Quaternion &q = *this;
+		Quaternion v(Type(0), vec(0), vec(1), vec(2));
+		Quaternion res = q * v * q.inversed();
+		return Vector3<Type>(res(1), res(2), res(3));
+	}
+
+	/**
+	 * Rotates vector v_2 in frame 2 to vector v_1 in frame 1
+	 * using the rotation quaternion q_21
+	 * describing the rotation from frame 1 to 2
+	 * v_1 = q_21^-1 * v_2 * q_21
+	 *
+	 * @param vec vector to rotate in frame 2 (typically reference frame)
+	 * @return rotated vector in frame 1 (typically body frame)
+	 */
+	Vector3<Type> conjugate_inversed(const Vector3<Type> &vec) const
+	{
+		const Quaternion &q = *this;
+		Quaternion v(Type(0), vec(0), vec(1), vec(2));
+		Quaternion res = q.inversed() * v * q;
+		return Vector3<Type>(res(1), res(2), res(3));
+	}
+
+	/**
+	 * Imaginary components of quaternion
+	 */
+	Vector3<Type> imag() const
+	{
+		const Quaternion &q = *this;
+		return Vector3<Type>(q(1), q(2), q(3));
+	}
+
+	/**
+	 * Corresponding body z-axis to an attitude quaternion /
+	 * last orthogonal unit basis vector
+	 *
+	 * == last column of the equivalent rotation matrix
+	 * but calculated more efficiently than a full conversion
+	 */
+	Vector3<Type> dcm_z() const
+	{
+		const Quaternion &q = *this;
+		Vector3<Type> R_z;
+		const Type a = q(0);
+		const Type b = q(1);
+		const Type c = q(2);
+		const Type d = q(3);
+		R_z(0) = 2 * (a * c + b * d);
+		R_z(1) = 2 * (c * d - a * b);
+		R_z(2) = a * a - b * b - c * c + d * d;
+		return R_z;
+	}
 };
 
 using Quatf = Quaternion<float>;
@@ -528,5 +548,3 @@ using Quatd = Quaternion<double>;
 using Quaterniond = Quaternion<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Scalar.hpp

@@ -17,36 +17,38 @@ template<typename Type>
 class Scalar
 {
 public:
-    Scalar() = delete;
+	Scalar() = delete;
 
-    Scalar(const Matrix<Type, 1, 1> & other) :
-        _value{other(0,0)}
-    {
-    }
+	Scalar(const Matrix<Type, 1, 1> &other) :
+		_value{other(0, 0)}
+	{
+	}
 
-    Scalar(Type other) : _value(other)
-    {
-    }
+	Scalar(Type other) : _value(other)
+	{
+	}
 
-    operator const Type &()
-    {
-        return _value;
-    }
+	operator const Type &()
+	{
+		return _value;
+	}
 
-    operator Matrix<Type, 1, 1>() const {
-        Matrix<Type, 1, 1> m;
-        m(0, 0) = _value;
-        return m;
-    }
+	operator Matrix<Type, 1, 1>() const
+	{
+		Matrix<Type, 1, 1> m;
+		m(0, 0) = _value;
+		return m;
+	}
 
-    operator Vector<Type, 1>() const {
-        Vector<Type, 1> m;
-        m(0) = _value;
-        return m;
-    }
+	operator Vector<Type, 1>() const
+	{
+		Vector<Type, 1> m;
+		m(0) = _value;
+		return m;
+	}
 
 private:
-    const Type _value;
+	const Type _value;
 
 };
 
@@ -54,5 +56,3 @@ using Scalarf = Scalar<float>;
 using Scalard = Scalar<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Slice.hpp

@@ -11,7 +11,8 @@
 #include "math.hpp"
 
 
-namespace matrix {
+namespace matrix
+{
 
 template<typename Type, size_t M, size_t N>
 class Matrix;
@@ -20,285 +21,315 @@ template<typename Type, size_t M>
 class Vector;
 
 template <typename Type, size_t P, size_t Q, size_t M, size_t N>
-class Slice {
+class Slice
+{
 public:
-    Slice(size_t x0, size_t y0, const Matrix<Type, M, N>* data) :
-        _x0(x0),
-        _y0(y0),
-        _data(const_cast<Matrix<Type, M, N>*>(data)) {
-        static_assert(P <= M, "Slice rows bigger than backing matrix");
-        static_assert(Q <= N, "Slice cols bigger than backing matrix");
-        assert(x0 + P <= M);
-        assert(y0 + Q <= N);
-    }
+	Slice(size_t x0, size_t y0, const Matrix<Type, M, N> *data) :
+		_x0(x0),
+		_y0(y0),
+		_data(const_cast<Matrix<Type, M, N>*>(data))
+	{
+		static_assert(P <= M, "Slice rows bigger than backing matrix");
+		static_assert(Q <= N, "Slice cols bigger than backing matrix");
+		assert(x0 + P <= M);
+		assert(y0 + Q <= N);
+	}
 
-    const Type &operator()(size_t i, size_t j) const
-    {
-        assert(i < P);
-        assert(j < Q);
+	const Type &operator()(size_t i, size_t j) const
+	{
+		assert(i < P);
+		assert(j < Q);
 
-        return (*_data)(_x0 + i, _y0 + j);
-    }
+		return (*_data)(_x0 + i, _y0 + j);
+	}
 
-    Type &operator()(size_t i, size_t j)
+	Type &operator()(size_t i, size_t j)
 
-    {
-        assert(i < P);
-        assert(j < Q);
+	{
+		assert(i < P);
+		assert(j < Q);
 
-        return (*_data)(_x0 + i, _y0 + j);
-    }
+		return (*_data)(_x0 + i, _y0 + j);
+	}
 
-    template<size_t MM, size_t NN>
-    Slice<Type, P, Q, M, N>& operator=(const Slice<Type, P, Q, MM, NN>& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) = other(i, j);
-            }
-        }
-        return self;
-    }
+	template<size_t MM, size_t NN>
+	Slice<Type, P, Q, M, N> &operator=(const Slice<Type, P, Q, MM, NN> &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    Slice<Type, P, Q, M, N>& operator=(const Matrix<Type, P, Q>& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) = other(i, j);
-            }
-        }
-        return self;
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) = other(i, j);
+			}
+		}
 
-    Slice<Type, P, Q, M, N>& operator=(const Type& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) = other;
-            }
-        }
-        return self;
-    }
+		return self;
+	}
 
-    // allow assigning vectors to a slice that are in the axis
-    template <size_t DUMMY = 1> // make this a template function since it only exists for some instantiations
-    Slice<Type, 1, Q, M, N>& operator=(const Vector<Type, Q>& other)
-    {
-        Slice<Type, 1, Q, M, N>& self = *this;
-        for (size_t j = 0; j < Q; j++) {
-            self(0, j) = other(j);
-        }
-        return self;
-    }
+	Slice<Type, P, Q, M, N> &operator=(const Matrix<Type, P, Q> &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    template<size_t MM, size_t NN>
-    Slice<Type, P, Q, M, N>& operator+=(const Slice<Type, P, Q, MM, NN>& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) += other(i, j);
-            }
-        }
-        return self;
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) = other(i, j);
+			}
+		}
 
-    Slice<Type, P, Q, M, N>& operator+=(const Matrix<Type, P, Q>& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) += other(i, j);
-            }
-        }
-        return self;
-    }
+		return self;
+	}
 
-    Slice<Type, P, Q, M, N>& operator+=(const Type& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) += other;
-            }
-        }
-        return self;
-    }
+	Slice<Type, P, Q, M, N> &operator=(const Type &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    template<size_t MM, size_t NN>
-    Slice<Type, P, Q, M, N>& operator-=(const Slice<Type, P, Q, MM, NN>& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) -= other(i, j);
-            }
-        }
-        return self;
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) = other;
+			}
+		}
 
-    Slice<Type, P, Q, M, N>& operator-=(const Matrix<Type, P, Q>& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) -= other(i, j);
-            }
-        }
-        return self;
-    }
+		return self;
+	}
 
-    Slice<Type, P, Q, M, N>& operator-=(const Type& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) -= other;
-            }
-        }
-        return self;
-    }
+	// allow assigning vectors to a slice that are in the axis
+	template <size_t DUMMY = 1> // make this a template function since it only exists for some instantiations
+	Slice<Type, 1, Q, M, N> &operator=(const Vector<Type, Q> &other)
+	{
+		Slice<Type, 1, Q, M, N> &self = *this;
 
-    Slice<Type, P, Q, M, N>& operator*=(const Type& other)
-    {
-        Slice<Type, P, Q, M, N>& self = *this;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                self(i, j) *= other;
-            }
-        }
-        return self;
-    }
+		for (size_t j = 0; j < Q; j++) {
+			self(0, j) = other(j);
+		}
 
-    Slice<Type, P, Q, M, N>& operator/=(const Type& other)
-    {
-        return operator*=(Type(1) / other);
-    }
+		return self;
+	}
 
-    Matrix<Type, P, Q> operator*(const Type& other) const
-    {
-        const Slice<Type, P, Q, M, N>& self = *this;
-        Matrix<Type, P, Q> res;
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                res(i, j) = self(i, j) * other;
-            }
-        }
-        return res;
-    }
+	template<size_t MM, size_t NN>
+	Slice<Type, P, Q, M, N> &operator+=(const Slice<Type, P, Q, MM, NN> &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    Matrix<Type, P, Q> operator/(const Type& other) const
-    {
-        const Slice<Type, P, Q, M, N>& self = *this;
-        return self * (Type(1) / other);
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) += other(i, j);
+			}
+		}
 
-    template<size_t R, size_t S>
-    const Slice<Type, R, S, M, N> slice(size_t x0, size_t y0) const
-    {
-        return Slice<Type, R, S, M, N>(x0 + _x0, y0 + _y0, _data);
-    }
+		return self;
+	}
 
-    template<size_t R, size_t S>
-    Slice<Type, R, S, M, N> slice(size_t x0, size_t y0)
-    {
-        return Slice<Type, R, S, M, N>(x0 + _x0, y0 + _y0, _data);
-    }
+	Slice<Type, P, Q, M, N> &operator+=(const Matrix<Type, P, Q> &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    void copyTo(Type dst[P*Q]) const
-    {
-        const Slice<Type, P, Q, M, N> &self = *this;
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) += other(i, j);
+			}
+		}
 
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                dst[i*N+j] = self(i, j);
-            }
-        }
-    }
+		return self;
+	}
 
-    void copyToColumnMajor(Type dst[P*Q]) const
-    {
-        const Slice<Type, P, Q, M, N> &self = *this;
+	Slice<Type, P, Q, M, N> &operator+=(const Type &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                dst[i+(j*M)] = self(i, j);
-            }
-        }
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) += other;
+			}
+		}
 
-    Vector<Type, P<Q?P:Q> diag() const
-    {
-        const Slice<Type, P, Q, M, N>& self = *this;
-        Vector<Type,P<Q?P:Q> res;
-        for (size_t j = 0; j < (P<Q?P:Q); j++) {
-            res(j) = self(j,j);
-        }
-        return res;
-    }
+		return self;
+	}
 
-    Type norm_squared() const
-    {
-        const Slice<Type, P, Q, M, N>& self = *this;
-        Type accum(0);
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                accum += self(i, j)*self(i, j);
-            }
-        }
-        return accum;
-    }
+	template<size_t MM, size_t NN>
+	Slice<Type, P, Q, M, N> &operator-=(const Slice<Type, P, Q, MM, NN> &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    Type norm() const
-    {
-        return matrix::sqrt(norm_squared());
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) -= other(i, j);
+			}
+		}
 
-    bool longerThan(Type testVal) const
-    {
-        return norm_squared() > testVal*testVal;
-    }
+		return self;
+	}
 
-    Type max() const
-    {
-        Type max_val = (*this)(0,0);
+	Slice<Type, P, Q, M, N> &operator-=(const Matrix<Type, P, Q> &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                Type val = (*this)(i,j);
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) -= other(i, j);
+			}
+		}
 
-                if (val > max_val) {
-                    max_val = val;
-                }
-            }
-        }
+		return self;
+	}
 
-        return max_val;
-    }
+	Slice<Type, P, Q, M, N> &operator-=(const Type &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-    Type min() const
-    {
-        Type min_val = (*this)(0,0);
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) -= other;
+			}
+		}
 
-        for (size_t i = 0; i < P; i++) {
-            for (size_t j = 0; j < Q; j++) {
-                Type val = (*this)(i,j);
+		return self;
+	}
 
-                if (val < min_val) {
-                    min_val = val;
-                }
-            }
-        }
+	Slice<Type, P, Q, M, N> &operator*=(const Type &other)
+	{
+		Slice<Type, P, Q, M, N> &self = *this;
 
-        return min_val;
-    }
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				self(i, j) *= other;
+			}
+		}
+
+		return self;
+	}
+
+	Slice<Type, P, Q, M, N> &operator/=(const Type &other)
+	{
+		return operator*=(Type(1) / other);
+	}
+
+	Matrix<Type, P, Q> operator*(const Type &other) const
+	{
+		const Slice<Type, P, Q, M, N> &self = *this;
+		Matrix<Type, P, Q> res;
+
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				res(i, j) = self(i, j) * other;
+			}
+		}
+
+		return res;
+	}
+
+	Matrix<Type, P, Q> operator/(const Type &other) const
+	{
+		const Slice<Type, P, Q, M, N> &self = *this;
+		return self * (Type(1) / other);
+	}
+
+	template<size_t R, size_t S>
+	const Slice<Type, R, S, M, N> slice(size_t x0, size_t y0) const
+	{
+		return Slice<Type, R, S, M, N>(x0 + _x0, y0 + _y0, _data);
+	}
+
+	template<size_t R, size_t S>
+	Slice<Type, R, S, M, N> slice(size_t x0, size_t y0)
+	{
+		return Slice<Type, R, S, M, N>(x0 + _x0, y0 + _y0, _data);
+	}
+
+	void copyTo(Type dst[P * Q]) const
+	{
+		const Slice<Type, P, Q, M, N> &self = *this;
+
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				dst[i * N + j] = self(i, j);
+			}
+		}
+	}
+
+	void copyToColumnMajor(Type dst[P * Q]) const
+	{
+		const Slice<Type, P, Q, M, N> &self = *this;
+
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				dst[i + (j * M)] = self(i, j);
+			}
+		}
+	}
+
+	Vector < Type, P < Q ? P : Q > diag() const
+	{
+		const Slice<Type, P, Q, M, N> &self = *this;
+		Vector < Type, P < Q ? P : Q > res;
+
+		for (size_t j = 0; j < (P < Q ? P : Q); j++) {
+			res(j) = self(j, j);
+		}
+
+		return res;
+	}
+
+	Type norm_squared() const
+	{
+		const Slice<Type, P, Q, M, N> &self = *this;
+		Type accum(0);
+
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				accum += self(i, j) * self(i, j);
+			}
+		}
+
+		return accum;
+	}
+
+	Type norm() const
+	{
+		return matrix::sqrt(norm_squared());
+	}
+
+	bool longerThan(Type testVal) const
+	{
+		return norm_squared() > testVal * testVal;
+	}
+
+	Type max() const
+	{
+		Type max_val = (*this)(0, 0);
+
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				Type val = (*this)(i, j);
+
+				if (val > max_val) {
+					max_val = val;
+				}
+			}
+		}
+
+		return max_val;
+	}
+
+	Type min() const
+	{
+		Type min_val = (*this)(0, 0);
+
+		for (size_t i = 0; i < P; i++) {
+			for (size_t j = 0; j < Q; j++) {
+				Type val = (*this)(i, j);
+
+				if (val < min_val) {
+					min_val = val;
+				}
+			}
+		}
+
+		return min_val;
+	}
 
 private:
-    size_t _x0, _y0;
-    Matrix<Type,M,N>* _data;
+	size_t _x0, _y0;
+	Matrix<Type, M, N> *_data;
 };
 
 }

src/lib/matrix/matrix/SparseVector.hpp

@@ -12,175 +12,213 @@
 
 #include "math.hpp"
 
-namespace matrix {
+namespace matrix
+{
 template<int N> struct force_constexpr_eval {
-    static const int value = N;
+	static const int value = N;
 };
 
 // Vector that only store nonzero elements,
 // which indices are specified as parameter pack
 template<typename Type, size_t M, size_t... Idxs>
-class SparseVector {
+class SparseVector
+{
 private:
-    static constexpr size_t N = sizeof...(Idxs);
-    static constexpr size_t _indices[N] {Idxs...};
+	static constexpr size_t N = sizeof...(Idxs);
+	static constexpr size_t _indices[N] {Idxs...};
 
-    static constexpr bool duplicateIndices() {
-        for (size_t i = 0; i < N; i++) {
-            for (size_t j = 0; j < i; j++) {
-                if (_indices[i] == _indices[j]) {
-                    return true;
-                }
-            }
-        }
-        return false;
-    }
-    static constexpr size_t findMaxIndex() {
-        size_t maxIndex = 0;
-        for (size_t i = 0; i < N; i++) {
-            if (maxIndex < _indices[i]) {
-                maxIndex = _indices[i];
-            }
-        }
-        return maxIndex;
-    }
+	static constexpr bool duplicateIndices()
+	{
+		for (size_t i = 0; i < N; i++) {
+			for (size_t j = 0; j < i; j++) {
+				if (_indices[i] == _indices[j]) {
+					return true;
+				}
+			}
+		}
 
-    static_assert(!duplicateIndices(), "Duplicate indices");
-    static_assert(N < M, "More entries than elements, use a dense vector");
-    static_assert(N > 0, "A sparse vector needs at least one element");
-    static_assert(findMaxIndex() < M, "Largest entry doesn't fit in sparse vector");
+		return false;
+	}
+	static constexpr size_t findMaxIndex()
+	{
+		size_t maxIndex = 0;
 
-    Type _data[N] {};
+		for (size_t i = 0; i < N; i++) {
+			if (maxIndex < _indices[i]) {
+				maxIndex = _indices[i];
+			}
+		}
 
-    static constexpr int findCompressedIndex(size_t index) {
-        int compressedIndex = -1;
-        for (size_t i = 0; i < N; i++) {
-            if (index == _indices[i]) {
-                compressedIndex = static_cast<int>(i);
-            }
-        }
-        return compressedIndex;
-    }
+		return maxIndex;
+	}
+
+	static_assert(!duplicateIndices(), "Duplicate indices");
+	static_assert(N < M, "More entries than elements, use a dense vector");
+	static_assert(N > 0, "A sparse vector needs at least one element");
+	static_assert(findMaxIndex() < M, "Largest entry doesn't fit in sparse vector");
+
+	Type _data[N] {};
+
+	static constexpr int findCompressedIndex(size_t index)
+	{
+		int compressedIndex = -1;
+
+		for (size_t i = 0; i < N; i++) {
+			if (index == _indices[i]) {
+				compressedIndex = static_cast<int>(i);
+			}
+		}
+
+		return compressedIndex;
+	}
 
 public:
-    constexpr size_t non_zeros() const {
-        return N;
-    }
+	constexpr size_t non_zeros() const
+	{
+		return N;
+	}
 
-    constexpr size_t index(size_t i) const {
-        return SparseVector::_indices[i];
-    }
+	constexpr size_t index(size_t i) const
+	{
+		return SparseVector::_indices[i];
+	}
 
-    SparseVector() = default;
+	SparseVector() = default;
 
-    SparseVector(const matrix::Vector<Type, M>& data) {
-        for (size_t i = 0; i < N; i++) {
-            _data[i] = data(_indices[i]);
-        }
-    }
+	SparseVector(const matrix::Vector<Type, M> &data)
+	{
+		for (size_t i = 0; i < N; i++) {
+			_data[i] = data(_indices[i]);
+		}
+	}
 
-    explicit SparseVector(const Type data[N]) {
-        memcpy(_data, data, sizeof(_data));
-    }
+	explicit SparseVector(const Type data[N])
+	{
+		memcpy(_data, data, sizeof(_data));
+	}
 
-    template <size_t i>
-    inline Type at() const {
-        static constexpr int compressed_index = force_constexpr_eval<findCompressedIndex(i)>::value;
-        static_assert(compressed_index >= 0, "cannot access unpopulated indices");
-        return _data[compressed_index];
-    }
+	template <size_t i>
+	inline Type at() const
+	{
+		static constexpr int compressed_index = force_constexpr_eval<findCompressedIndex(i)>::value;
+		static_assert(compressed_index >= 0, "cannot access unpopulated indices");
+		return _data[compressed_index];
+	}
 
-    template <size_t i>
-    inline Type& at() {
-        static constexpr int compressed_index = force_constexpr_eval<findCompressedIndex(i)>::value;
-        static_assert(compressed_index >= 0, "cannot access unpopulated indices");
-        return _data[compressed_index];
-    }
+	template <size_t i>
+	inline Type &at()
+	{
+		static constexpr int compressed_index = force_constexpr_eval<findCompressedIndex(i)>::value;
+		static_assert(compressed_index >= 0, "cannot access unpopulated indices");
+		return _data[compressed_index];
+	}
 
-    inline Type atCompressedIndex(size_t i) const {
-        assert(i < N);
-        return _data[i];
-    }
+	inline Type atCompressedIndex(size_t i) const
+	{
+		assert(i < N);
+		return _data[i];
+	}
 
-    inline Type& atCompressedIndex(size_t i) {
-        assert(i < N);
-        return _data[i];
-    }
+	inline Type &atCompressedIndex(size_t i)
+	{
+		assert(i < N);
+		return _data[i];
+	}
 
-    void setZero() {
-        for (size_t i = 0; i < N; i++) {
-            _data[i] = Type(0);
-        }
-    }
+	void setZero()
+	{
+		for (size_t i = 0; i < N; i++) {
+			_data[i] = Type(0);
+		}
+	}
 
-    Type dot(const matrix::Vector<Type, M>& other) const {
-        Type accum (0);
-        for (size_t i = 0; i < N; i++) {
-            accum += _data[i] * other(_indices[i]);
-        }
-        return accum;
-    }
+	Type dot(const matrix::Vector<Type, M> &other) const
+	{
+		Type accum(0);
 
-    matrix::Vector<Type, M> operator+(const matrix::Vector<Type, M>& other) const {
-        matrix::Vector<Type, M> vec = other;
-        for (size_t i = 0; i < N; i++) {
-            vec(_indices[i]) +=  _data[i];
-        }
-        return vec;
-    }
+		for (size_t i = 0; i < N; i++) {
+			accum += _data[i] * other(_indices[i]);
+		}
 
-    SparseVector& operator+=(Type t) {
-        for (size_t i = 0; i < N; i++) {
-            _data[i] += t;
-        }
-        return *this;
-    }
+		return accum;
+	}
 
-    Type norm_squared() const
-    {
-        Type accum(0);
-        for (size_t i = 0; i < N; i++) {
-            accum += _data[i] * _data[i];
-        }
-        return accum;
-    }
+	matrix::Vector<Type, M> operator+(const matrix::Vector<Type, M> &other) const
+	{
+		matrix::Vector<Type, M> vec = other;
 
-    Type norm() const
-    {
-        return matrix::sqrt(norm_squared());
-    }
+		for (size_t i = 0; i < N; i++) {
+			vec(_indices[i]) +=  _data[i];
+		}
 
-    bool longerThan(Type testVal) const
-    {
-        return norm_squared() > testVal*testVal;
-    }
+		return vec;
+	}
+
+	SparseVector &operator+=(Type t)
+	{
+		for (size_t i = 0; i < N; i++) {
+			_data[i] += t;
+		}
+
+		return *this;
+	}
+
+	Type norm_squared() const
+	{
+		Type accum(0);
+
+		for (size_t i = 0; i < N; i++) {
+			accum += _data[i] * _data[i];
+		}
+
+		return accum;
+	}
+
+	Type norm() const
+	{
+		return matrix::sqrt(norm_squared());
+	}
+
+	bool longerThan(Type testVal) const
+	{
+		return norm_squared() > testVal * testVal;
+	}
 };
 
 template<typename Type, size_t Q, size_t M, size_t ... Idxs>
-matrix::Vector<Type, Q> operator*(const matrix::Matrix<Type, Q, M>& mat, const matrix::SparseVector<Type, M, Idxs...>& vec) {
-    matrix::Vector<Type, Q> res;
-    for (size_t i = 0; i < Q; i++) {
-        const Vector<Type, M> row = mat.row(i);
-        res(i) = vec.dot(row);
-    }
-    return res;
+matrix::Vector<Type, Q> operator*(const matrix::Matrix<Type, Q, M> &mat,
+				  const matrix::SparseVector<Type, M, Idxs...> &vec)
+{
+	matrix::Vector<Type, Q> res;
+
+	for (size_t i = 0; i < Q; i++) {
+		const Vector<Type, M> row = mat.row(i);
+		res(i) = vec.dot(row);
+	}
+
+	return res;
 }
 
 // returns x.T * A * x
 template<typename Type, size_t M, size_t ... Idxs>
-Type quadraticForm(const matrix::SquareMatrix<Type, M>& A, const matrix::SparseVector<Type, M, Idxs...>& x) {
-    Type res = Type(0);
-    for (size_t i = 0; i < x.non_zeros(); i++) {
-        Type tmp = Type(0);
-        for (size_t j = 0; j < x.non_zeros(); j++) {
-            tmp += A(x.index(i), x.index(j)) * x.atCompressedIndex(j);
-        }
-        res += x.atCompressedIndex(i) * tmp;
-    }
-    return res;
+Type quadraticForm(const matrix::SquareMatrix<Type, M> &A, const matrix::SparseVector<Type, M, Idxs...> &x)
+{
+	Type res = Type(0);
+
+	for (size_t i = 0; i < x.non_zeros(); i++) {
+		Type tmp = Type(0);
+
+		for (size_t j = 0; j < x.non_zeros(); j++) {
+			tmp += A(x.index(i), x.index(j)) * x.atCompressedIndex(j);
+		}
+
+		res += x.atCompressedIndex(i) * tmp;
+	}
+
+	return res;
 }
 
-template<typename Type,size_t M, size_t... Idxs>
+template<typename Type, size_t M, size_t... Idxs>
 constexpr size_t SparseVector<Type, M, Idxs...>::_indices[SparseVector<Type, M, Idxs...>::N];
 
 template<size_t M, size_t ... Idxs>

src/lib/matrix/matrix/SquareMatrix.hpp

@@ -26,243 +26,257 @@ template <typename Type, size_t  M>
 class SquareMatrix : public Matrix<Type, M, M>
 {
 public:
-    SquareMatrix() = default;
+	SquareMatrix() = default;
 
-    explicit SquareMatrix(const Type data_[M][M]) :
-        Matrix<Type, M, M>(data_)
-    {
-    }
+	explicit SquareMatrix(const Type data_[M][M]) :
+		Matrix<Type, M, M>(data_)
+	{
+	}
 
-    explicit SquareMatrix(const Type data_[M*M]) :
-        Matrix<Type, M, M>(data_)
-    {
-    }
+	explicit SquareMatrix(const Type data_[M * M]) :
+		Matrix<Type, M, M>(data_)
+	{
+	}
 
-    SquareMatrix(const Matrix<Type, M, M> &other) :
-        Matrix<Type, M, M>(other)
-    {
-    }
+	SquareMatrix(const Matrix<Type, M, M> &other) :
+		Matrix<Type, M, M>(other)
+	{
+	}
 
-    template<size_t P, size_t Q>
-    SquareMatrix(const Slice<Type, M, M, P, Q>& in_slice) : Matrix<Type, M, M>(in_slice)
-    {
-    }
+	template<size_t P, size_t Q>
+	SquareMatrix(const Slice<Type, M, M, P, Q> &in_slice) : Matrix<Type, M, M>(in_slice)
+	{
+	}
 
-    SquareMatrix<Type, M>& operator=(const Matrix<Type, M, M>& other)
-    {
-        Matrix<Type, M, M>::operator=(other);
-        return *this;
-    }
+	SquareMatrix<Type, M> &operator=(const Matrix<Type, M, M> &other)
+	{
+		Matrix<Type, M, M>::operator=(other);
+		return *this;
+	}
 
-    template <size_t P, size_t Q>
-    SquareMatrix<Type, M> & operator=(const Slice<Type, M, M, P, Q>& in_slice)
-    {
-        Matrix<Type, M, M>::operator=(in_slice);
-        return *this;
-    }
+	template <size_t P, size_t Q>
+	SquareMatrix<Type, M> &operator=(const Slice<Type, M, M, P, Q> &in_slice)
+	{
+		Matrix<Type, M, M>::operator=(in_slice);
+		return *this;
+	}
 
-    template<size_t P, size_t Q>
-    const Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0) const
-    {
-        return Slice<Type, P, Q, M, M>(x0, y0, this);
-    }
+	template<size_t P, size_t Q>
+	const Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0) const
+	{
+		return Slice<Type, P, Q, M, M>(x0, y0, this);
+	}
 
-    template<size_t P, size_t Q>
-    Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0)
-    {
-        return Slice<Type, P, Q, M, M>(x0, y0, this);
-    }
+	template<size_t P, size_t Q>
+	Slice<Type, P, Q, M, M> slice(size_t x0, size_t y0)
+	{
+		return Slice<Type, P, Q, M, M>(x0, y0, this);
+	}
 
-    // inverse alias
-    inline SquareMatrix<Type, M> I() const
-    {
-        SquareMatrix<Type, M> i;
-        if (inv(*this, i)) {
-            return i;
-        } else {
-            i.setZero();
-            return i;
-        }
-    }
+	// inverse alias
+	inline SquareMatrix<Type, M> I() const
+	{
+		SquareMatrix<Type, M> i;
 
-    // inverse alias
-    inline bool I(SquareMatrix<Type, M> &i) const
-    {
-        return inv(*this, i);
-    }
+		if (inv(*this, i)) {
+			return i;
+
+		} else {
+			i.setZero();
+			return i;
+		}
+	}
+
+	// inverse alias
+	inline bool I(SquareMatrix<Type, M> &i) const
+	{
+		return inv(*this, i);
+	}
 
 
-    Vector<Type, M> diag() const
-    {
-        Vector<Type, M> res;
-        const SquareMatrix<Type, M> &self = *this;
+	Vector<Type, M> diag() const
+	{
+		Vector<Type, M> res;
+		const SquareMatrix<Type, M> &self = *this;
 
-        for (size_t i = 0; i < M; i++) {
-            res(i) = self(i, i);
-        }
-        return res;
-    }
+		for (size_t i = 0; i < M; i++) {
+			res(i) = self(i, i);
+		}
 
-    // get matrix upper right triangle in a row-major vector format
-    Vector<Type, M * (M + 1) / 2> upper_right_triangle() const
-    {
-        Vector<Type, M * (M + 1) / 2> res;
-        const SquareMatrix<Type, M> &self = *this;
+		return res;
+	}
 
-        unsigned idx = 0;
-        for (size_t x = 0; x < M; x++) {
-            for (size_t y = x; y < M; y++) {
-                res(idx) = self(x, y);
-                ++idx;
-            }
-        }
+	// get matrix upper right triangle in a row-major vector format
+	Vector < Type, M *(M + 1) / 2 > upper_right_triangle() const
+	{
+		Vector < Type, M * (M + 1) / 2 > res;
+		const SquareMatrix<Type, M> &self = *this;
 
-        return res;
-    }
+		unsigned idx = 0;
 
-    Type trace() const
-    {
-        Type res = 0;
-        const SquareMatrix<Type, M> &self = *this;
+		for (size_t x = 0; x < M; x++) {
+			for (size_t y = x; y < M; y++) {
+				res(idx) = self(x, y);
+				++idx;
+			}
+		}
 
-        for (size_t i = 0; i < M; i++) {
-            res += self(i, i);
-        }
-        return res;
-    }
+		return res;
+	}
 
-    // zero all offdiagonal elements and keep corresponding diagonal elements
-    template <size_t Width>
-    void uncorrelateCovariance(size_t first)
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+	Type trace() const
+	{
+		Type res = 0;
+		const SquareMatrix<Type, M> &self = *this;
 
-        SquareMatrix<Type, M> &self = *this;
-        Vector<Type, Width> diag_elements = self.slice<Width, Width>(first, first).diag();
-        self.uncorrelateCovarianceSetVariance(first, diag_elements);
-    }
+		for (size_t i = 0; i < M; i++) {
+			res += self(i, i);
+		}
 
-    template <size_t Width>
-    void uncorrelateCovarianceSetVariance(size_t first, const Vector<Type, Width> &vec)
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+		return res;
+	}
 
-        SquareMatrix<Type, M> &self = *this;
-        // zero rows and columns
-        self.slice<Width, M>(first, 0) = Type(0);
-        self.slice<M, Width>(0, first) = Type(0);
+	// zero all offdiagonal elements and keep corresponding diagonal elements
+	template <size_t Width>
+	void uncorrelateCovariance(size_t first)
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
 
-        // set diagonals
-        unsigned vec_idx = 0;
-        for (size_t idx = first; idx < first+Width; idx++) {
-            self(idx,idx) = vec(vec_idx);
-            vec_idx ++;
-        }
-    }
+		SquareMatrix<Type, M> &self = *this;
+		Vector<Type, Width> diag_elements = self.slice<Width, Width>(first, first).diag();
+		self.uncorrelateCovarianceSetVariance(first, diag_elements);
+	}
 
-    template <size_t Width>
-    void uncorrelateCovarianceSetVariance(size_t first, Type val)
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+	template <size_t Width>
+	void uncorrelateCovarianceSetVariance(size_t first, const Vector<Type, Width> &vec)
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
 
-        SquareMatrix<Type, M> &self = *this;
-        // zero rows and columns
-        self.slice<Width, M>(first, 0) = Type(0);
-        self.slice<M, Width>(0, first) = Type(0);
+		SquareMatrix<Type, M> &self = *this;
+		// zero rows and columns
+		self.slice<Width, M>(first, 0) = Type(0);
+		self.slice<M, Width>(0, first) = Type(0);
 
-        // set diagonals
-        for (size_t idx = first; idx < first+Width; idx++) {
-            self(idx,idx) = val;
-        }
-    }
+		// set diagonals
+		unsigned vec_idx = 0;
 
-    // make block diagonal symmetric by taking the average of the two corresponding off diagonal values
-    template <size_t Width>
-    void makeBlockSymmetric(size_t first)
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+		for (size_t idx = first; idx < first + Width; idx++) {
+			self(idx, idx) = vec(vec_idx);
+			vec_idx ++;
+		}
+	}
 
-        SquareMatrix<Type, M> &self = *this;
-        if(Width>1) {
-            for (size_t row_idx = first+1; row_idx < first+Width; row_idx++) {
-                for (size_t col_idx = first; col_idx < row_idx; col_idx++) {
-                    Type tmp = (self(row_idx,col_idx) + self(col_idx,row_idx)) / Type(2);
-                    self(row_idx,col_idx) = tmp;
-                    self(col_idx,row_idx) = tmp;
-                }
-            }
-        }
-    }
+	template <size_t Width>
+	void uncorrelateCovarianceSetVariance(size_t first, Type val)
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
 
-    // make rows and columns symmetric by taking the average of the two corresponding off diagonal values
-    template <size_t Width>
-    void makeRowColSymmetric(size_t first)
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+		SquareMatrix<Type, M> &self = *this;
+		// zero rows and columns
+		self.slice<Width, M>(first, 0) = Type(0);
+		self.slice<M, Width>(0, first) = Type(0);
 
-        SquareMatrix<Type, M> &self = *this;
-        self.makeBlockSymmetric<Width>(first);
-        for (size_t row_idx = first; row_idx < first+Width; row_idx++) {
-            for (size_t col_idx = 0; col_idx < first; col_idx++) {
-                Type tmp = (self(row_idx,col_idx) + self(col_idx,row_idx)) / Type(2);
-                self(row_idx,col_idx) = tmp;
-                self(col_idx,row_idx) = tmp;
-            }
-            for (size_t col_idx = first+Width; col_idx < M; col_idx++) {
-                Type tmp = (self(row_idx,col_idx) + self(col_idx,row_idx)) / Type(2);
-                self(row_idx,col_idx) = tmp;
-                self(col_idx,row_idx) = tmp;
-            }
-        }
-    }
+		// set diagonals
+		for (size_t idx = first; idx < first + Width; idx++) {
+			self(idx, idx) = val;
+		}
+	}
 
-    // checks if block diagonal is symmetric
-    template <size_t Width>
-    bool isBlockSymmetric(size_t first, const Type eps = Type(1e-8f))
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+	// make block diagonal symmetric by taking the average of the two corresponding off diagonal values
+	template <size_t Width>
+	void makeBlockSymmetric(size_t first)
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
 
-        SquareMatrix<Type, M> &self = *this;
-        if(Width>1) {
-            for (size_t row_idx = first+1; row_idx < first+Width; row_idx++) {
-                for (size_t col_idx = first; col_idx < row_idx; col_idx++) {
-                    if(!isEqualF(self(row_idx,col_idx), self(col_idx,row_idx), eps)) {
-                        return false;
-                    }
-                }
-            }
-        }
-        return true;
-    }
+		SquareMatrix<Type, M> &self = *this;
 
-    // checks if rows and columns are symmetric
-    template <size_t Width>
-    bool isRowColSymmetric(size_t first, const Type eps = Type(1e-8f))
-    {
-        static_assert(Width <= M, "Width bigger than matrix");
-        assert(first + Width <= M);
+		if (Width > 1) {
+			for (size_t row_idx = first + 1; row_idx < first + Width; row_idx++) {
+				for (size_t col_idx = first; col_idx < row_idx; col_idx++) {
+					Type tmp = (self(row_idx, col_idx) + self(col_idx, row_idx)) / Type(2);
+					self(row_idx, col_idx) = tmp;
+					self(col_idx, row_idx) = tmp;
+				}
+			}
+		}
+	}
 
-        SquareMatrix<Type, M> &self = *this;
-        for (size_t row_idx = first; row_idx < first+Width; row_idx++) {
-            for (size_t col_idx = 0; col_idx < first; col_idx++) {
-                if(!isEqualF(self(row_idx,col_idx), self(col_idx,row_idx), eps)) {
-                    return false;
-                }
-            }
-            for (size_t col_idx = first+Width; col_idx < M; col_idx++) {
-                if(!isEqualF(self(row_idx,col_idx), self(col_idx,row_idx), eps)) {
-                    return false;
-                }
-            }
-        }
-        return self.isBlockSymmetric<Width>(first, eps);
-    }
+	// make rows and columns symmetric by taking the average of the two corresponding off diagonal values
+	template <size_t Width>
+	void makeRowColSymmetric(size_t first)
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
+
+		SquareMatrix<Type, M> &self = *this;
+		self.makeBlockSymmetric<Width>(first);
+
+		for (size_t row_idx = first; row_idx < first + Width; row_idx++) {
+			for (size_t col_idx = 0; col_idx < first; col_idx++) {
+				Type tmp = (self(row_idx, col_idx) + self(col_idx, row_idx)) / Type(2);
+				self(row_idx, col_idx) = tmp;
+				self(col_idx, row_idx) = tmp;
+			}
+
+			for (size_t col_idx = first + Width; col_idx < M; col_idx++) {
+				Type tmp = (self(row_idx, col_idx) + self(col_idx, row_idx)) / Type(2);
+				self(row_idx, col_idx) = tmp;
+				self(col_idx, row_idx) = tmp;
+			}
+		}
+	}
+
+	// checks if block diagonal is symmetric
+	template <size_t Width>
+	bool isBlockSymmetric(size_t first, const Type eps = Type(1e-8f))
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
+
+		SquareMatrix<Type, M> &self = *this;
+
+		if (Width > 1) {
+			for (size_t row_idx = first + 1; row_idx < first + Width; row_idx++) {
+				for (size_t col_idx = first; col_idx < row_idx; col_idx++) {
+					if (!isEqualF(self(row_idx, col_idx), self(col_idx, row_idx), eps)) {
+						return false;
+					}
+				}
+			}
+		}
+
+		return true;
+	}
+
+	// checks if rows and columns are symmetric
+	template <size_t Width>
+	bool isRowColSymmetric(size_t first, const Type eps = Type(1e-8f))
+	{
+		static_assert(Width <= M, "Width bigger than matrix");
+		assert(first + Width <= M);
+
+		SquareMatrix<Type, M> &self = *this;
+
+		for (size_t row_idx = first; row_idx < first + Width; row_idx++) {
+			for (size_t col_idx = 0; col_idx < first; col_idx++) {
+				if (!isEqualF(self(row_idx, col_idx), self(col_idx, row_idx), eps)) {
+					return false;
+				}
+			}
+
+			for (size_t col_idx = first + Width; col_idx < M; col_idx++) {
+				if (!isEqualF(self(row_idx, col_idx), self(col_idx, row_idx), eps)) {
+					return false;
+				}
+			}
+		}
+
+		return self.isBlockSymmetric<Width>(first, eps);
+	}
 
 };
 
@@ -270,35 +284,40 @@ using SquareMatrix3f = SquareMatrix<float, 3>;
 using SquareMatrix3d = SquareMatrix<double, 3>;
 
 template<typename Type, size_t M>
-SquareMatrix<Type, M> eye() {
-    SquareMatrix<Type, M> m;
-    m.setIdentity();
-    return m;
-}
-
-template<typename Type, size_t M>
-SquareMatrix<Type, M> diag(Vector<Type, M> d) {
-    SquareMatrix<Type, M> m;
-    for (size_t i=0; i<M; i++) {
-        m(i,i) = d(i);
-    }
-    return m;
-}
-
-template<typename Type, size_t M>
-SquareMatrix<Type, M> expm(const Matrix<Type, M, M> & A, size_t order=5)
+SquareMatrix<Type, M> eye()
 {
-    SquareMatrix<Type, M> res;
-    SquareMatrix<Type, M> A_pow = A;
-    res.setIdentity();
-    size_t i_factorial = 1;
-    for (size_t i=1; i<=order; i++) {
-        i_factorial *= i;
-        res += A_pow / Type(i_factorial);
-        A_pow *= A_pow;
-    }
+	SquareMatrix<Type, M> m;
+	m.setIdentity();
+	return m;
+}
 
-    return res;
+template<typename Type, size_t M>
+SquareMatrix<Type, M> diag(Vector<Type, M> d)
+{
+	SquareMatrix<Type, M> m;
+
+	for (size_t i = 0; i < M; i++) {
+		m(i, i) = d(i);
+	}
+
+	return m;
+}
+
+template<typename Type, size_t M>
+SquareMatrix<Type, M> expm(const Matrix<Type, M, M> &A, size_t order = 5)
+{
+	SquareMatrix<Type, M> res;
+	SquareMatrix<Type, M> A_pow = A;
+	res.setIdentity();
+	size_t i_factorial = 1;
+
+	for (size_t i = 1; i <= order; i++) {
+		i_factorial *= i;
+		res += A_pow / Type(i_factorial);
+		A_pow *= A_pow;
+	}
+
+	return res;
 }
 
 
@@ -306,183 +325,186 @@ SquareMatrix<Type, M> expm(const Matrix<Type, M, M> & A, size_t order=5)
  * inverse based on LU factorization with partial pivotting
  */
 template<typename Type, size_t M>
-bool inv(const SquareMatrix<Type, M> & A, SquareMatrix<Type, M> & inv, size_t rank = M)
+bool inv(const SquareMatrix<Type, M> &A, SquareMatrix<Type, M> &inv, size_t rank = M)
 {
-    SquareMatrix<Type, M> L;
-    L.setIdentity();
-    SquareMatrix<Type, M> U = A;
-    SquareMatrix<Type, M> P;
-    P.setIdentity();
+	SquareMatrix<Type, M> L;
+	L.setIdentity();
+	SquareMatrix<Type, M> U = A;
+	SquareMatrix<Type, M> P;
+	P.setIdentity();
 
-    //printf("A:\n"); A.print();
+	//printf("A:\n"); A.print();
 
-    // for all diagonal elements
-    for (size_t n = 0; n < rank; n++) {
+	// for all diagonal elements
+	for (size_t n = 0; n < rank; n++) {
 
-        // if diagonal is zero, swap with row below
-        if (fabs(U(n, n)) < Type(FLT_EPSILON)) {
-            //printf("trying pivot for row %d\n",n);
-            for (size_t i = n + 1; i < rank; i++) {
+		// if diagonal is zero, swap with row below
+		if (fabs(U(n, n)) < Type(FLT_EPSILON)) {
+			//printf("trying pivot for row %d\n",n);
+			for (size_t i = n + 1; i < rank; i++) {
 
-                //printf("\ttrying row %d\n",i);
-                if (fabs(U(i, n)) > Type(FLT_EPSILON)) {
-                    //printf("swapped %d\n",i);
-                    U.swapRows(i, n);
-                    P.swapRows(i, n);
-                    L.swapRows(i, n);
-                    L.swapCols(i, n);
-                    break;
-                }
-            }
-        }
+				//printf("\ttrying row %d\n",i);
+				if (fabs(U(i, n)) > Type(FLT_EPSILON)) {
+					//printf("swapped %d\n",i);
+					U.swapRows(i, n);
+					P.swapRows(i, n);
+					L.swapRows(i, n);
+					L.swapCols(i, n);
+					break;
+				}
+			}
+		}
 
 #ifdef MATRIX_ASSERT
-        //printf("A:\n"); A.print();
-        //printf("U:\n"); U.print();
-        //printf("P:\n"); P.print();
-        //fflush(stdout);
-        //ASSERT(fabs(U(n, n)) > 1e-8f);
+		//printf("A:\n"); A.print();
+		//printf("U:\n"); U.print();
+		//printf("P:\n"); P.print();
+		//fflush(stdout);
+		//ASSERT(fabs(U(n, n)) > 1e-8f);
 #endif
 
-        // failsafe, return zero matrix
-        if (fabs(static_cast<float>(U(n, n))) < FLT_EPSILON) {
-            return false;
-        }
+		// failsafe, return zero matrix
+		if (fabs(static_cast<float>(U(n, n))) < FLT_EPSILON) {
+			return false;
+		}
 
-        // for all rows below diagonal
-        for (size_t i = (n + 1); i < rank; i++) {
-            L(i, n) = U(i, n) / U(n, n);
+		// for all rows below diagonal
+		for (size_t i = (n + 1); i < rank; i++) {
+			L(i, n) = U(i, n) / U(n, n);
 
-            // add i-th row and n-th row
-            // multiplied by: -a(i,n)/a(n,n)
-            for (size_t k = n; k < rank; k++) {
-                U(i, k) -= L(i, n) * U(n, k);
-            }
-        }
-    }
+			// add i-th row and n-th row
+			// multiplied by: -a(i,n)/a(n,n)
+			for (size_t k = n; k < rank; k++) {
+				U(i, k) -= L(i, n) * U(n, k);
+			}
+		}
+	}
 
-    //printf("L:\n"); L.print();
-    //printf("U:\n"); U.print();
+	//printf("L:\n"); L.print();
+	//printf("U:\n"); U.print();
 
-    // solve LY=P*I for Y by forward subst
-    //SquareMatrix<Type, M> Y = P;
+	// solve LY=P*I for Y by forward subst
+	//SquareMatrix<Type, M> Y = P;
 
-    // for all columns of Y
-    for (size_t c = 0; c < rank; c++) {
-        // for all rows of L
-        for (size_t i = 0; i < rank; i++) {
-            // for all columns of L
-            for (size_t j = 0; j < i; j++) {
-                // for all existing y
-                // subtract the component they
-                // contribute to the solution
-                P(i, c) -= L(i, j) * P(j, c);
-            }
+	// for all columns of Y
+	for (size_t c = 0; c < rank; c++) {
+		// for all rows of L
+		for (size_t i = 0; i < rank; i++) {
+			// for all columns of L
+			for (size_t j = 0; j < i; j++) {
+				// for all existing y
+				// subtract the component they
+				// contribute to the solution
+				P(i, c) -= L(i, j) * P(j, c);
+			}
 
-            // divide by the factor
-            // on current
-            // term to be solved
-            // Y(i,c) /= L(i,i);
-            // but L(i,i) = 1.0
-        }
-    }
+			// divide by the factor
+			// on current
+			// term to be solved
+			// Y(i,c) /= L(i,i);
+			// but L(i,i) = 1.0
+		}
+	}
 
-    //printf("Y:\n"); Y.print();
+	//printf("Y:\n"); Y.print();
 
-    // solve Ux=y for x by back subst
-    //SquareMatrix<Type, M> X = Y;
+	// solve Ux=y for x by back subst
+	//SquareMatrix<Type, M> X = Y;
 
-    // for all columns of X
-    for (size_t c = 0; c < rank; c++) {
-        // for all rows of U
-        for (size_t k = 0; k < rank; k++) {
-            // have to go in reverse order
-            size_t i = rank - 1 - k;
+	// for all columns of X
+	for (size_t c = 0; c < rank; c++) {
+		// for all rows of U
+		for (size_t k = 0; k < rank; k++) {
+			// have to go in reverse order
+			size_t i = rank - 1 - k;
 
-            // for all columns of U
-            for (size_t j = i + 1; j < rank; j++) {
-                // for all existing x
-                // subtract the component they
-                // contribute to the solution
-                P(i, c) -= U(i, j) * P(j, c);
-            }
+			// for all columns of U
+			for (size_t j = i + 1; j < rank; j++) {
+				// for all existing x
+				// subtract the component they
+				// contribute to the solution
+				P(i, c) -= U(i, j) * P(j, c);
+			}
 
-            // divide by the factor
-            // on current
-            // term to be solved
-            //
-            // we know that U(i, i) != 0 from above
-            P(i, c) /= U(i, i);
-        }
-    }
+			// divide by the factor
+			// on current
+			// term to be solved
+			//
+			// we know that U(i, i) != 0 from above
+			P(i, c) /= U(i, i);
+		}
+	}
 
-    //check sanity of results
-    for (size_t i = 0; i < rank; i++) {
-        for (size_t j = 0; j < rank; j++) {
-            if (!is_finite(P(i,j))) {
-                return false;
-            }
-        }
-    }
-    //printf("X:\n"); X.print();
-    inv = P;
-    return true;
+	//check sanity of results
+	for (size_t i = 0; i < rank; i++) {
+		for (size_t j = 0; j < rank; j++) {
+			if (!is_finite(P(i, j))) {
+				return false;
+			}
+		}
+	}
+
+	//printf("X:\n"); X.print();
+	inv = P;
+	return true;
 }
 
 template<typename Type>
-bool inv(const SquareMatrix<Type, 2> & A, SquareMatrix<Type, 2> & inv)
+bool inv(const SquareMatrix<Type, 2> &A, SquareMatrix<Type, 2> &inv)
 {
-    Type det = A(0, 0) * A(1, 1) - A(1, 0) * A(0, 1);
+	Type det = A(0, 0) * A(1, 1) - A(1, 0) * A(0, 1);
 
-    if(fabs(static_cast<float>(det)) < FLT_EPSILON || !is_finite(det)) {
-        return false;
-    }
+	if (fabs(static_cast<float>(det)) < FLT_EPSILON || !is_finite(det)) {
+		return false;
+	}
 
-    inv(0, 0) = A(1, 1);
-    inv(1, 0) = -A(1, 0);
-    inv(0, 1) = -A(0, 1);
-    inv(1, 1) = A(0, 0);
-    inv /= det;
-    return true;
+	inv(0, 0) = A(1, 1);
+	inv(1, 0) = -A(1, 0);
+	inv(0, 1) = -A(0, 1);
+	inv(1, 1) = A(0, 0);
+	inv /= det;
+	return true;
 }
 
 template<typename Type>
-bool inv(const SquareMatrix<Type, 3> & A, SquareMatrix<Type, 3> & inv)
+bool inv(const SquareMatrix<Type, 3> &A, SquareMatrix<Type, 3> &inv)
 {
-    Type det = A(0, 0) * (A(1, 1) * A(2, 2) - A(2, 1) * A(1, 2)) -
-               A(0, 1) * (A(1, 0) * A(2, 2) - A(1, 2) * A(2, 0)) +
-               A(0, 2) * (A(1, 0) * A(2, 1) - A(1, 1) * A(2, 0));
+	Type det = A(0, 0) * (A(1, 1) * A(2, 2) - A(2, 1) * A(1, 2)) -
+		   A(0, 1) * (A(1, 0) * A(2, 2) - A(1, 2) * A(2, 0)) +
+		   A(0, 2) * (A(1, 0) * A(2, 1) - A(1, 1) * A(2, 0));
 
-    if(fabs(static_cast<float>(det)) < FLT_EPSILON || !is_finite(det)) {
-        return false;
-    }
+	if (fabs(static_cast<float>(det)) < FLT_EPSILON || !is_finite(det)) {
+		return false;
+	}
 
-    inv(0, 0) = A(1, 1) * A(2, 2) - A(2, 1) * A(1, 2);
-    inv(0, 1) = A(0, 2) * A(2, 1) - A(0, 1) * A(2, 2);
-    inv(0, 2) = A(0, 1) * A(1, 2) - A(0, 2) * A(1, 1);
-    inv(1, 0) = A(1, 2) * A(2, 0) - A(1, 0) * A(2, 2);
-    inv(1, 1) = A(0, 0) * A(2, 2) - A(0, 2) * A(2, 0);
-    inv(1, 2) = A(1, 0) * A(0, 2) - A(0, 0) * A(1, 2);
-    inv(2, 0) = A(1, 0) * A(2, 1) - A(2, 0) * A(1, 1);
-    inv(2, 1) = A(2, 0) * A(0, 1) - A(0, 0) * A(2, 1);
-    inv(2, 2) = A(0, 0) * A(1, 1) - A(1, 0) * A(0, 1);
-    inv /= det;
-    return true;
+	inv(0, 0) = A(1, 1) * A(2, 2) - A(2, 1) * A(1, 2);
+	inv(0, 1) = A(0, 2) * A(2, 1) - A(0, 1) * A(2, 2);
+	inv(0, 2) = A(0, 1) * A(1, 2) - A(0, 2) * A(1, 1);
+	inv(1, 0) = A(1, 2) * A(2, 0) - A(1, 0) * A(2, 2);
+	inv(1, 1) = A(0, 0) * A(2, 2) - A(0, 2) * A(2, 0);
+	inv(1, 2) = A(1, 0) * A(0, 2) - A(0, 0) * A(1, 2);
+	inv(2, 0) = A(1, 0) * A(2, 1) - A(2, 0) * A(1, 1);
+	inv(2, 1) = A(2, 0) * A(0, 1) - A(0, 0) * A(2, 1);
+	inv(2, 2) = A(0, 0) * A(1, 1) - A(1, 0) * A(0, 1);
+	inv /= det;
+	return true;
 }
 
 /**
  * inverse based on LU factorization with partial pivotting
  */
 template<typename Type, size_t M>
-SquareMatrix<Type, M> inv(const SquareMatrix<Type, M> & A)
+SquareMatrix<Type, M> inv(const SquareMatrix<Type, M> &A)
 {
-    SquareMatrix<Type, M> i;
-    if (inv(A, i)) {
-        return i;
-    } else {
-        i.setZero();
-        return i;
-    }
+	SquareMatrix<Type, M> i;
+
+	if (inv(A, i)) {
+		return i;
+
+	} else {
+		i.setZero();
+		return i;
+	}
 }
 
 /**
@@ -491,36 +513,46 @@ SquareMatrix<Type, M> inv(const SquareMatrix<Type, M> & A)
  * Note: A must be positive definite
  */
 template<typename Type, size_t M>
-SquareMatrix <Type, M> cholesky(const SquareMatrix<Type, M> & A)
+SquareMatrix <Type, M> cholesky(const SquareMatrix<Type, M> &A)
 {
-    SquareMatrix<Type, M> L;
-    for (size_t j = 0; j < M; j++) {
-        for (size_t i = j; i < M; i++) {
-            if (i==j) {
-                float sum = 0;
-                for (size_t k = 0; k < j; k++) {
-                    sum += L(j, k)*L(j, k);
-                }
-                Type res = A(j, j) - sum;
-                if (res <= 0) {
-                    L(j, j) = 0;
-                } else {
-                    L(j, j) = sqrt(res);
-                }
-            } else {
-                float sum = 0;
-                for (size_t k = 0; k < j; k++) {
-                    sum += L(i, k)*L(j, k);
-                }
-                if (L(j, j) <= 0) {
-                    L(i, j) = 0;
-                } else {
-                    L(i, j) = (A(i, j) - sum)/L(j, j);
-                }
-            }
-        }
-    }
-    return L;
+	SquareMatrix<Type, M> L;
+
+	for (size_t j = 0; j < M; j++) {
+		for (size_t i = j; i < M; i++) {
+			if (i == j) {
+				float sum = 0;
+
+				for (size_t k = 0; k < j; k++) {
+					sum += L(j, k) * L(j, k);
+				}
+
+				Type res = A(j, j) - sum;
+
+				if (res <= 0) {
+					L(j, j) = 0;
+
+				} else {
+					L(j, j) = sqrt(res);
+				}
+
+			} else {
+				float sum = 0;
+
+				for (size_t k = 0; k < j; k++) {
+					sum += L(i, k) * L(j, k);
+				}
+
+				if (L(j, j) <= 0) {
+					L(i, j) = 0;
+
+				} else {
+					L(i, j) = (A(i, j) - sum) / L(j, j);
+				}
+			}
+		}
+	}
+
+	return L;
 }
 
 /**
@@ -530,15 +562,13 @@ SquareMatrix <Type, M> cholesky(const SquareMatrix<Type, M> & A)
  * for L or we need to do it manually. Will impact speed otherwise.
  */
 template<typename Type, size_t M>
-SquareMatrix <Type, M> choleskyInv(const SquareMatrix<Type, M> & A)
+SquareMatrix <Type, M> choleskyInv(const SquareMatrix<Type, M> &A)
 {
-    SquareMatrix<Type, M> L_inv = inv(cholesky(A));
-    return L_inv.T()*L_inv;
+	SquareMatrix<Type, M> L_inv = inv(cholesky(A));
+	return L_inv.T() * L_inv;
 }
 
 using Matrix3f = SquareMatrix<float, 3>;
 using Matrix3d = SquareMatrix<double, 3>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Vector.hpp

@@ -20,117 +20,134 @@ template<typename Type, size_t M>
 class Vector : public Matrix<Type, M, 1>
 {
 public:
-    using MatrixM1 = Matrix<Type, M, 1>;
+	using MatrixM1 = Matrix<Type, M, 1>;
 
-    Vector() = default;
+	Vector() = default;
 
-    Vector(const MatrixM1 & other) :
-        MatrixM1(other)
-    {
-    }
+	Vector(const MatrixM1 &other) :
+		MatrixM1(other)
+	{
+	}
 
-    explicit Vector(const Type data_[M]) :
-        MatrixM1(data_)
-    {
-    }
+	explicit Vector(const Type data_[M]) :
+		MatrixM1(data_)
+	{
+	}
 
-    template<size_t P, size_t Q>
-    Vector(const Slice<Type, M, 1, P, Q>& slice_in) :
-        Matrix<Type, M, 1>(slice_in)
-    {
-    }
+	template<size_t P, size_t Q>
+	Vector(const Slice<Type, M, 1, P, Q> &slice_in) :
+		Matrix<Type, M, 1>(slice_in)
+	{
+	}
 
-    template<size_t P, size_t Q, size_t DUMMY = 1>
-    Vector(const Slice<Type, 1, M, P, Q>& slice_in)
-    {
-        Vector &self(*this);
-        for (size_t i = 0; i<M; i++) {
-            self(i) = slice_in(0, i);
-        }
-    }
+	template<size_t P, size_t Q, size_t DUMMY = 1>
+	Vector(const Slice<Type, 1, M, P, Q> &slice_in)
+	{
+		Vector &self(*this);
 
-    inline const Type &operator()(size_t i) const
-    {
-        assert(i < M);
+		for (size_t i = 0; i < M; i++) {
+			self(i) = slice_in(0, i);
+		}
+	}
 
-        const MatrixM1 &v = *this;
-        return v(i, 0);
-    }
+	inline const Type &operator()(size_t i) const
+	{
+		assert(i < M);
 
-    inline Type &operator()(size_t i)
-    {
-        assert(i < M);
+		const MatrixM1 &v = *this;
+		return v(i, 0);
+	}
 
-        MatrixM1 &v = *this;
-        return v(i, 0);
-    }
+	inline Type &operator()(size_t i)
+	{
+		assert(i < M);
 
-    Type dot(const MatrixM1 & b) const {
-        const Vector &a(*this);
-        Type r(0);
-        for (size_t i = 0; i<M; i++) {
-            r += a(i)*b(i,0);
-        }
-        return r;
-    }
+		MatrixM1 &v = *this;
+		return v(i, 0);
+	}
 
-    inline Type operator*(const MatrixM1 & b) const {
-        const Vector &a(*this);
-        return a.dot(b);
-    }
+	Type dot(const MatrixM1 &b) const
+	{
+		const Vector &a(*this);
+		Type r(0);
 
-    inline Vector operator*(Type b) const {
-        return Vector(MatrixM1::operator*(b));
-    }
+		for (size_t i = 0; i < M; i++) {
+			r += a(i) * b(i, 0);
+		}
 
-    Type norm() const {
-        const Vector &a(*this);
-        return Type(matrix::sqrt(a.dot(a)));
-    }
+		return r;
+	}
 
-    Type norm_squared() const {
-        const Vector &a(*this);
-        return a.dot(a);
-    }
+	inline Type operator*(const MatrixM1 &b) const
+	{
+		const Vector &a(*this);
+		return a.dot(b);
+	}
 
-    inline Type length() const {
-        return norm();
-    }
+	inline Vector operator*(Type b) const
+	{
+		return Vector(MatrixM1::operator*(b));
+	}
 
-    inline void normalize() {
-        (*this) /= norm();
-    }
+	Type norm() const
+	{
+		const Vector &a(*this);
+		return Type(matrix::sqrt(a.dot(a)));
+	}
 
-    Vector unit() const {
-        return (*this) / norm();
-    }
+	Type norm_squared() const
+	{
+		const Vector &a(*this);
+		return a.dot(a);
+	}
 
-    Vector unit_or_zero(const Type eps = Type(1e-5)) const {
-        const Type n = norm();
-        if (n > eps) {
-            return (*this) / n;
-        }
-        return Vector();
-    }
+	inline Type length() const
+	{
+		return norm();
+	}
 
-    inline Vector normalized() const {
-        return unit();
-    }
+	inline void normalize()
+	{
+		(*this) /= norm();
+	}
 
-    bool longerThan(Type testVal) const {
-        return norm_squared() > testVal*testVal;
-    }
+	Vector unit() const
+	{
+		return (*this) / norm();
+	}
 
-    Vector sqrt() const {
-        const Vector &a(*this);
-        Vector r;
-        for (size_t i = 0; i<M; i++) {
-            r(i) = Type(matrix::sqrt(a(i)));
-        }
-        return r;
-    }
+	Vector unit_or_zero(const Type eps = Type(1e-5)) const
+	{
+		const Type n = norm();
+
+		if (n > eps) {
+			return (*this) / n;
+		}
+
+		return Vector();
+	}
+
+	inline Vector normalized() const
+	{
+		return unit();
+	}
+
+	bool longerThan(Type testVal) const
+	{
+		return norm_squared() > testVal * testVal;
+	}
+
+	Vector sqrt() const
+	{
+		const Vector &a(*this);
+		Vector r;
+
+		for (size_t i = 0; i < M; i++) {
+			r(i) = Type(matrix::sqrt(a(i)));
+		}
+
+		return r;
+	}
 };
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Vector2.hpp

@@ -21,53 +21,55 @@ class Vector2 : public Vector<Type, 2>
 {
 public:
 
-    using Matrix21 = Matrix<Type, 2, 1>;
-    using Vector3 = Vector<Type, 3>;
+	using Matrix21 = Matrix<Type, 2, 1>;
+	using Vector3 = Vector<Type, 3>;
 
-    Vector2() = default;
+	Vector2() = default;
 
-    Vector2(const Matrix21 & other) :
-        Vector<Type, 2>(other)
-    {
-    }
+	Vector2(const Matrix21 &other) :
+		Vector<Type, 2>(other)
+	{
+	}
 
-    explicit Vector2(const Type data_[2]) :
-        Vector<Type, 2>(data_)
-    {
-    }
+	explicit Vector2(const Type data_[2]) :
+		Vector<Type, 2>(data_)
+	{
+	}
 
-    Vector2(Type x, Type y)
-    {
-        Vector2 &v(*this);
-        v(0) = x;
-        v(1) = y;
-    }
+	Vector2(Type x, Type y)
+	{
+		Vector2 &v(*this);
+		v(0) = x;
+		v(1) = y;
+	}
 
-    template<size_t P, size_t Q>
-    Vector2(const Slice<Type, 2, 1, P, Q>& slice_in) : Vector<Type, 2>(slice_in)
-    {
-    }
+	template<size_t P, size_t Q>
+	Vector2(const Slice<Type, 2, 1, P, Q> &slice_in) : Vector<Type, 2>(slice_in)
+	{
+	}
 
-    template<size_t P, size_t Q>
-    Vector2(const Slice<Type, 1, 2, P, Q>& slice_in) : Vector<Type, 2>(slice_in)
-    {
-    }
+	template<size_t P, size_t Q>
+	Vector2(const Slice<Type, 1, 2, P, Q> &slice_in) : Vector<Type, 2>(slice_in)
+	{
+	}
 
-    explicit Vector2(const Vector3 & other)
-    {
-        Vector2 &v(*this);
-        v(0) = other(0);
-        v(1) = other(1);
-    }
+	explicit Vector2(const Vector3 &other)
+	{
+		Vector2 &v(*this);
+		v(0) = other(0);
+		v(1) = other(1);
+	}
 
-    Type cross(const Matrix21 & b) const {
-        const Vector2 &a(*this);
-        return a(0)*b(1, 0) - a(1)*b(0, 0);
-    }
+	Type cross(const Matrix21 &b) const
+	{
+		const Vector2 &a(*this);
+		return a(0) * b(1, 0) - a(1) * b(0, 0);
+	}
 
-    Type operator%(const Matrix21 & b) const {
-        return (*this).cross(b);
-    }
+	Type operator%(const Matrix21 &b) const
+	{
+		return (*this).cross(b);
+	}
 
 };
 
@@ -76,5 +78,3 @@ using Vector2f = Vector2<float>;
 using Vector2d = Vector2<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/Vector3.hpp

@@ -30,121 +30,127 @@ class Vector3 : public Vector<Type, 3>
 {
 public:
 
-    using Matrix31 = Matrix<Type, 3, 1>;
+	using Matrix31 = Matrix<Type, 3, 1>;
 
-    Vector3() = default;
+	Vector3() = default;
 
-    Vector3(const Matrix31 & other) :
-        Vector<Type, 3>(other)
-    {
-    }
+	Vector3(const Matrix31 &other) :
+		Vector<Type, 3>(other)
+	{
+	}
 
-    explicit Vector3(const Type data_[3]) :
-        Vector<Type, 3>(data_)
-    {
-    }
+	explicit Vector3(const Type data_[3]) :
+		Vector<Type, 3>(data_)
+	{
+	}
 
-    Vector3(Type x, Type y, Type z) {
-        Vector3 &v(*this);
-        v(0) = x;
-        v(1) = y;
-        v(2) = z;
-    }
+	Vector3(Type x, Type y, Type z)
+	{
+		Vector3 &v(*this);
+		v(0) = x;
+		v(1) = y;
+		v(2) = z;
+	}
 
-    template<size_t P, size_t Q>
-    Vector3(const Slice<Type, 3, 1, P, Q>& slice_in) : Vector<Type, 3>(slice_in)
-    {
-    }
+	template<size_t P, size_t Q>
+	Vector3(const Slice<Type, 3, 1, P, Q> &slice_in) : Vector<Type, 3>(slice_in)
+	{
+	}
 
-    template<size_t P, size_t Q>
-    Vector3(const Slice<Type, 1, 3, P, Q>& slice_in) : Vector<Type, 3>(slice_in)
-    {
-    }
+	template<size_t P, size_t Q>
+	Vector3(const Slice<Type, 1, 3, P, Q> &slice_in) : Vector<Type, 3>(slice_in)
+	{
+	}
 
-    Vector3 cross(const Matrix31 & b) const {
-        const Vector3 &a(*this);
-        return {a(1)*b(2,0) - a(2)*b(1,0), -a(0)*b(2,0) + a(2)*b(0,0), a(0)*b(1,0) - a(1)*b(0,0)};
-    }
+	Vector3 cross(const Matrix31 &b) const
+	{
+		const Vector3 &a(*this);
+		return {a(1) *b(2, 0) - a(2) *b(1, 0), -a(0) *b(2, 0) + a(2) *b(0, 0), a(0) *b(1, 0) - a(1) *b(0, 0)};
+	}
 
-    /**
-     * Override matrix ops so Vector3 type is returned
-     */
+	/**
+	 * Override matrix ops so Vector3 type is returned
+	 */
 
-    inline Vector3 operator+(Vector3 other) const
-    {
-        return Matrix31::operator+(other);
-    }
+	inline Vector3 operator+(Vector3 other) const
+	{
+		return Matrix31::operator+(other);
+	}
 
-    inline Vector3 operator+(Type scalar) const
-    {
-        return Matrix31::operator+(scalar);
-    }
+	inline Vector3 operator+(Type scalar) const
+	{
+		return Matrix31::operator+(scalar);
+	}
 
-    inline Vector3 operator-(Vector3 other) const
-    {
-        return Matrix31::operator-(other);
-    }
+	inline Vector3 operator-(Vector3 other) const
+	{
+		return Matrix31::operator-(other);
+	}
 
-    inline Vector3 operator-(Type scalar) const
-    {
-        return Matrix31::operator-(scalar);
-    }
+	inline Vector3 operator-(Type scalar) const
+	{
+		return Matrix31::operator-(scalar);
+	}
 
-    inline Vector3 operator-() const
-    {
-        return Matrix31::operator-();
-    }
+	inline Vector3 operator-() const
+	{
+		return Matrix31::operator-();
+	}
 
-    inline Vector3 operator*(Type scalar) const
-    {
-        return Matrix31::operator*(scalar);
-    }
+	inline Vector3 operator*(Type scalar) const
+	{
+		return Matrix31::operator*(scalar);
+	}
 
-    inline Type operator*(Vector3 b) const
-    {
-        return Vector<Type, 3>::operator*(b);
-    }
+	inline Type operator*(Vector3 b) const
+	{
+		return Vector<Type, 3>::operator*(b);
+	}
 
-    inline Vector3 operator%(const Matrix31 & b) const {
-        return (*this).cross(b);
-    }
+	inline Vector3 operator%(const Matrix31 &b) const
+	{
+		return (*this).cross(b);
+	}
 
-    /**
-     * Override vector ops so Vector3 type is returned
-     */
-    inline Vector3 unit() const {
-        return Vector3(Vector<Type, 3>::unit());
-    }
+	/**
+	 * Override vector ops so Vector3 type is returned
+	 */
+	inline Vector3 unit() const
+	{
+		return Vector3(Vector<Type, 3>::unit());
+	}
 
-    inline Vector3 normalized() const {
-        return unit();
-    }
+	inline Vector3 normalized() const
+	{
+		return unit();
+	}
 
-    const Slice<Type, 2, 1, 3, 1> xy() const
-    {
-        return Slice<Type, 2, 1, 3, 1>(0, 0, this);
-    }
+	const Slice<Type, 2, 1, 3, 1> xy() const
+	{
+		return Slice<Type, 2, 1, 3, 1>(0, 0, this);
+	}
 
-    Slice<Type, 2, 1, 3, 1> xy()
-    {
-        return Slice<Type, 2, 1, 3, 1>(0, 0, this);
-    }
+	Slice<Type, 2, 1, 3, 1> xy()
+	{
+		return Slice<Type, 2, 1, 3, 1>(0, 0, this);
+	}
 
 
-    Dcm<Type> hat() const {    // inverse to Dcm.vee() operation
-        const Vector3 &v(*this);
-        Dcm<Type> A;
-        A(0,0) = 0;
-        A(0,1) = -v(2);
-        A(0,2) = v(1);
-        A(1,0) = v(2);
-        A(1,1) = 0;
-        A(1,2) = -v(0);
-        A(2,0) = -v(1);
-        A(2,1) = v(0);
-        A(2,2) = 0;
-        return A;
-    }
+	Dcm<Type> hat() const      // inverse to Dcm.vee() operation
+	{
+		const Vector3 &v(*this);
+		Dcm<Type> A;
+		A(0, 0) = 0;
+		A(0, 1) = -v(2);
+		A(0, 2) = v(1);
+		A(1, 0) = v(2);
+		A(1, 1) = 0;
+		A(1, 2) = -v(0);
+		A(2, 0) = -v(1);
+		A(2, 1) = v(0);
+		A(2, 2) = 0;
+		return A;
+	}
 
 };
 
@@ -152,5 +158,3 @@ using Vector3f = Vector3<float>;
 using Vector3d = Vector3<double>;
 
 } // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/matrix/filter.hpp

@@ -2,25 +2,26 @@
 
 #include "math.hpp"
 
-namespace matrix {
+namespace matrix
+{
 
 template<typename Type, size_t M, size_t N>
 int kalman_correct(
-    const Matrix<Type, M, M> & P,
-    const Matrix<Type, N, M> & C,
-    const Matrix<Type, N, N> & R,
-    const Matrix<Type, N, 1> &r,
-    Matrix<Type, M, 1> & dx,
-    Matrix<Type, M, M> & dP,
-    Type & beta
+	const Matrix<Type, M, M> &P,
+	const Matrix<Type, N, M> &C,
+	const Matrix<Type, N, N> &R,
+	const Matrix<Type, N, 1> &r,
+	Matrix<Type, M, 1> &dx,
+	Matrix<Type, M, M> &dP,
+	Type &beta
 )
 {
-    SquareMatrix<Type, N> S_I = SquareMatrix<Type, N>(C*P*C.T() + R).I();
-    Matrix<Type, M, N> K = P*C.T()*S_I;
-    dx = K*r;
-    beta = Scalar<Type>(r.T()*S_I*r);
-    dP = K*C*P*(-1);
-    return 0;
+	SquareMatrix<Type, N> S_I = SquareMatrix<Type, N>(C * P * C.T() + R).I();
+	Matrix<Type, M, N> K = P * C.T() * S_I;
+	dx = K * r;
+	beta = Scalar<Type>(r.T() * S_I * r);
+	dP = K * C * P * (-1);
+	return 0;
 }
 
 } // namespace matrix

src/lib/matrix/matrix/helper_functions.hpp

@@ -10,13 +10,14 @@ namespace matrix
 {
 
 template<typename Type>
-bool is_finite(Type x) {
+bool is_finite(Type x)
+{
 #if defined (__PX4_NUTTX)
-    return PX4_ISFINITE(x);
+	return PX4_ISFINITE(x);
 #elif defined (__PX4_QURT)
-    return __builtin_isfinite(x);
+	return __builtin_isfinite(x);
 #else
-    return std::isfinite(x);
+	return std::isfinite(x);
 #endif
 }
 
@@ -34,25 +35,26 @@ bool is_finite(Type x) {
 template<typename Type>
 bool isEqualF(const Type x, const Type y, const Type eps = Type(1e-4f))
 {
-    return (matrix::fabs(x - y) <= eps)
-           || (isnan(x) && isnan(y))
-           || (isinf(x) && isinf(y) && isnan(x - y));
+	return (matrix::fabs(x - y) <= eps)
+	       || (isnan(x) && isnan(y))
+	       || (isinf(x) && isinf(y) && isnan(x - y));
 }
 
 namespace detail
 {
 
 template<typename Floating>
-Floating wrap_floating(Floating x, Floating low, Floating high) {
-    // already in range
-    if (low <= x && x < high) {
-        return x;
-    }
+Floating wrap_floating(Floating x, Floating low, Floating high)
+{
+	// already in range
+	if (low <= x && x < high) {
+		return x;
+	}
 
-    const auto range = high - low;
-    const auto inv_range = Floating(1) / range; // should evaluate at compile time, multiplies below at runtime
-    const auto num_wraps = floor((x - low) * inv_range);
-    return x - range * num_wraps;
+	const auto range = high - low;
+	const auto inv_range = Floating(1) / range; // should evaluate at compile time, multiplies below at runtime
+	const auto num_wraps = floor((x - low) * inv_range);
+	return x - range * num_wraps;
 }
 
 }  // namespace detail
@@ -65,8 +67,9 @@ Floating wrap_floating(Floating x, Floating low, Floating high) {
  * @param high upper limit of the allowed range
  * @return wrapped value inside the range
  */
-inline float wrap(float x, float low, float high) {
-    return matrix::detail::wrap_floating(x, low, high);
+inline float wrap(float x, float low, float high)
+{
+	return matrix::detail::wrap_floating(x, low, high);
 }
 
 /**
@@ -77,8 +80,9 @@ inline float wrap(float x, float low, float high) {
  * @param high upper limit of the allowed range
  * @return wrapped value inside the range
  */
-inline double wrap(double x, double low, double high) {
-    return matrix::detail::wrap_floating(x, low, high);
+inline double wrap(double x, double low, double high)
+{
+	return matrix::detail::wrap_floating(x, low, high);
 }
 
 /**
@@ -90,14 +94,15 @@ inline double wrap(double x, double low, double high) {
  * @return wrapped value inside the range
  */
 template<typename Integer>
-Integer wrap(Integer x, Integer low, Integer high) {
-    const auto range = high - low;
+Integer wrap(Integer x, Integer low, Integer high)
+{
+	const auto range = high - low;
 
-    if (x < low) {
-        x += range * ((low - x) / range + 1);
-    }
+	if (x < low) {
+		x += range * ((low - x) / range + 1);
+	}
 
-    return low + (x - low) % range;
+	return low + (x - low) % range;
 }
 
 /**
@@ -106,7 +111,7 @@ Integer wrap(Integer x, Integer low, Integer high) {
 template<typename Type>
 Type wrap_pi(Type x)
 {
-    return wrap(x, Type(-M_PI), Type(M_PI));
+	return wrap(x, Type(-M_PI), Type(M_PI));
 }
 
 /**
@@ -115,13 +120,13 @@ Type wrap_pi(Type x)
 template<typename Type>
 Type wrap_2pi(Type x)
 {
-    return wrap(x, Type(0), Type(M_TWOPI));
+	return wrap(x, Type(0), Type(M_TWOPI));
 }
 
 template<typename T>
 int sign(T val)
 {
-    return (T(FLT_EPSILON) < val) - (val < T(FLT_EPSILON));
+	return (T(FLT_EPSILON) < val) - (val < T(FLT_EPSILON));
 }
 
 } // namespace matrix

src/lib/matrix/matrix/integration.hpp

@@ -2,41 +2,45 @@
 
 #include "math.hpp"
 
-namespace matrix {
+namespace matrix
+{
 
 template<typename Type, size_t M, size_t N>
 int integrate_rk4(
-    Vector<Type, M> (*f)(Type, const Matrix<Type, M, 1> &x, const Matrix<Type, N, 1> & u),
-    const Matrix<Type, M, 1> & y0,
-    const Matrix<Type, N, 1> & u,
-    Type t0,
-    Type tf,
-    Type h0,
-    Matrix<Type, M, 1> & y1
+	Vector<Type, M> (*f)(Type, const Matrix<Type, M, 1> &x, const Matrix<Type, N, 1> &u),
+	const Matrix<Type, M, 1> &y0,
+	const Matrix<Type, N, 1> &u,
+	Type t0,
+	Type tf,
+	Type h0,
+	Matrix<Type, M, 1> &y1
 )
 {
-    // https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods
-    Type t1 = t0;
-    y1 = y0;
-    Type h = h0;
-    Vector<Type, M> k1, k2, k3, k4;
-    if (tf < t0) return -1; // make sure t1 > t0
-    while (t1 < tf) {
-        if (t1 + h0 < tf) {
-            h = h0;
-        } else {
-            h = tf - t1;
-        }
-        k1 = f(t1, y1, u);
-        k2 = f(t1 + h/2, y1 + k1*h/2, u);
-        k3 = f(t1 + h/2, y1 + k2*h/2, u);
-        k4 = f(t1 + h, y1 + k3*h, u);
-        y1 += (k1 + k2*2 + k3*2 + k4)*(h/6);
-        t1 += h;
-    }
-    return 0;
+	// https://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods
+	Type t1 = t0;
+	y1 = y0;
+	Type h = h0;
+	Vector<Type, M> k1, k2, k3, k4;
+
+	if (tf < t0) { return -1; } // make sure t1 > t0
+
+	while (t1 < tf) {
+		if (t1 + h0 < tf) {
+			h = h0;
+
+		} else {
+			h = tf - t1;
+		}
+
+		k1 = f(t1, y1, u);
+		k2 = f(t1 + h / 2, y1 + k1 * h / 2, u);
+		k3 = f(t1 + h / 2, y1 + k2 * h / 2, u);
+		k4 = f(t1 + h, y1 + k3 * h, u);
+		y1 += (k1 + k2 * 2 + k3 * 2 + k4) * (h / 6);
+		t1 += h;
+	}
+
+	return 0;
 }
 
 } // namespace matrix
-
-// vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 :

src/lib/matrix/matrix/stdlib_imports.hpp

@@ -20,7 +20,8 @@
 #define M_TWOPI (M_PI * 2.0)
 #endif
 
-namespace matrix {
+namespace matrix
+{
 
 #if !defined(FLT_EPSILON)
 #define FLT_EPSILON     __FLT_EPSILON__

src/lib/matrix/test/attitude.cpp

@@ -7,7 +7,8 @@ using namespace matrix;
 // manually instantiated all files we intend to test
 // so that coverage works correctly
 // doesn't matter what test this is in
-namespace matrix {
+namespace matrix
+{
 template class Matrix<float, 3, 3>;
 template class Vector3<float>;
 template class Vector2<float>;
@@ -20,471 +21,471 @@ template class SquareMatrix<float, 4>;
 
 int main()
 {
-    // check data
-    Eulerf euler_check(0.1f, 0.2f, 0.3f);
-    Quatf q_check(0.98334744f, 0.0342708f, 0.10602051f, .14357218f);
-    float dcm_data[] =  {
-        0.93629336f, -0.27509585f,  0.21835066f,
-        0.28962948f,  0.95642509f, -0.03695701f,
-        -0.19866933f,  0.0978434f,  0.97517033f
-    };
-    Dcmf dcm_check(dcm_data);
-
-    // euler ctor
-    TEST(isEqual(euler_check, Vector3f(0.1f, 0.2f, 0.3f)));
-
-    // euler default ctor
-    Eulerf e;
-    Eulerf e_zero = zeros<float, 3, 1>();
-    TEST(isEqual(e, e_zero));
-    TEST(isEqual(e, e));
-
-    // euler vector ctor
-    Vector3f v(0.1f, 0.2f, 0.3f);
-    Eulerf euler_copy(v);
-    TEST(isEqual(euler_copy, euler_check));
-
-    // quaternion ctor
-    Quatf q0(1, 2, 3, 4);
-    Quatf q(q0);
-    double eps = 1e-6;
-    TEST(fabs(q(0) - 1) < eps);
-    TEST(fabs(q(1) - 2) < eps);
-    TEST(fabs(q(2) - 3) < eps);
-    TEST(fabs(q(3) - 4) < eps);
-
-    // quaternion ctor: vector to vector
-    // identity test
-    Quatf quat_v(v,v);
-    TEST(isEqual(quat_v.conjugate(v), v));
-    // random test (vector norm can not be preserved with a pure rotation)
-    Vector3f v1(-80.1f, 1.5f, -6.89f);
-    quat_v = Quatf(v1, v);
-    TEST(isEqual(quat_v.conjugate(v1).normalized() * v.norm(), v));
-    // special 180 degree case 1
-    v1 = Vector3f(0.f, 1.f, 1.f);
-    quat_v = Quatf(v1, -v1);
-    TEST(isEqual(quat_v.conjugate(v1), -v1));
-    // special 180 degree case 2
-    v1 = Vector3f(1.f, 2.f, 0.f);
-    quat_v = Quatf(v1, -v1);
-    TEST(isEqual(quat_v.conjugate(v1), -v1));
-    // special 180 degree case 3
-    v1 = Vector3f(0.f, 0.f, 1.f);
-    quat_v = Quatf(v1, -v1);
-    TEST(isEqual(quat_v.conjugate(v1), -v1));
-    // special 180 degree case 4
-    v1 = Vector3f(1.f, 1.f, 1.f);
-    quat_v = Quatf(v1, -v1);
-    TEST(isEqual(quat_v.conjugate(v1), -v1));
-
-    // quat normalization
-    q.normalize();
-    TEST(isEqual(q, Quatf(0.18257419f,  0.36514837f,
-                          0.54772256f,  0.73029674f)));
-    TEST(isEqual(q0.unit(), q));
-    TEST(isEqual(q0.unit(), q0.normalized()));
-
-    // quat default ctor
-    q = Quatf();
-    TEST(isEqual(q, Quatf(1, 0, 0, 0)));
-
-    // quaternion exponential with v=0
-    v = Vector3f();
-    q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
-    Dcmf M = Dcmf()*0.5f;
-    TEST(isEqual(q, Quatf::expq(v)));
-    TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
-
-    // quaternion exponential with small v
-    v = Vector3f(0.001f,0.002f,-0.003f);
-    q = Quatf(0.999993000008167f, 0.000999997666668f,
-              0.001999995333337f, -0.002999993000005f);
-    {
-        float M_data[] =  {
-            0.499997833331311f, 0.001500333333644f,  0.000999499999533f,
-            -0.001499666666356f, 0.499998333331778f, -0.000501000000933f,
-            -0.001000500000467f, 0.000498999999067f,  0.499999166665889f
-        };
-        M = Dcmf(M_data);
-    }
-    TEST(isEqual(q, Quatf::expq(v)));
-    TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
-
-    // quaternion exponential with v
-    v = Vector3f(1.0f, -2.0f, 3.0f);
-    q = Quatf(-0.825299062075259f, -0.150921327219964f,
-              0.301842654439929f, -0.452763981659893f);
-    {
-        float M_data[] =  {
-            2.574616981530584f, -1.180828156687602f, -1.478757764968596f,
-            1.819171843312398f,  2.095859216561988f,  0.457515529937193f,
-            0.521242235031404f,  1.457515529937193f,  1.297929608280994f
-        };
-        M = Dcmf(M_data);
-    }
-    TEST(isEqual(q, Quatf::expq(v)));
-    TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
-
-    // quaternion kinematic update
-    q = Quatf();
-    float h=0.001f;    // sampling time [s]
-    Vector3f w_B=Vector3f(0.1f,0.2f,0.3f);     // body rate in body frame
-    Quatf qa=q+0.5f*h*q.derivative1(w_B);
-    qa.normalize();
-    Quatf qb=q*Quatf::expq(0.5f*h*w_B);
-    TEST(isEqual(qa, qb));
-
-    // euler to quaternion
-    q = Quatf(euler_check);
-    TEST(isEqual(q, q_check));
-
-    // euler to dcm
-    Dcmf dcm(euler_check);
-    TEST(isEqual(dcm, dcm_check));
-
-    // quaternion to euler
-    Eulerf e1(q_check);
-    TEST(isEqual(e1, euler_check));
-
-    // quaternion to dcm
-    Dcmf dcm1(q_check);
-    TEST(isEqual(dcm1, dcm_check));
-    // quaternion z-axis unit base vector
-    Vector3f q_z = q_check.dcm_z();
-    Vector3f R_z(dcm_check(0, 2), dcm_check(1, 2), dcm_check(2, 2));
-    TEST(isEqual(q_z, R_z));
-
-    // dcm default ctor
-    Dcmf dcm2;
-    SquareMatrix<float, 3> I = eye<float, 3>();
-    TEST(isEqual(dcm2, I));
-
-    // dcm to euler
-    Eulerf e2(dcm_check);
-    TEST(isEqual(e2, euler_check));
-
-    // dcm to quaterion
-    Quatf q2(dcm_check);
-    TEST(isEqual(q2, q_check));
-
-    // dcm renormalize
-    Dcmf A = eye<float, 3>();
-    Dcmf R(euler_check);
-    for (size_t i = 0; i < 1000; i++) {
-        A = R * A;
-    }
-
-    A.renormalize();
-    float err = 0.0f;
-
-    for (size_t r = 0; r < 3; r++) {
-        Vector3f rvec(matrix::Matrix<float,1,3>(A.row(r)).transpose());
-        err += fabs(1.0f - rvec.length());
-    }
-    TEST(err < eps);
-
-    // constants
-    double deg2rad = M_PI / 180.0;
-    double rad2deg = 180.0 / M_PI;
-
-    // euler dcm round trip check
-    for (double roll = -90; roll <= 90; roll += 90) {
-        for (double pitch = -90; pitch <= 90; pitch += 90) {
-            for (double yaw = -179; yaw <= 180; yaw += 90) {
-                // note if theta = pi/2, then roll is set to zero
-                double roll_expected = roll;
-                double yaw_expected = yaw;
-
-                if (fabs(pitch -90) < eps) {
-                    roll_expected = 0;
-                    yaw_expected = yaw - roll;
-
-                } else if (fabs(pitch + 90) < eps) {
-                    roll_expected = 0;
-                    yaw_expected = yaw + roll;
-                }
-
-                if (yaw_expected < -180) {
-                    yaw_expected += 360;
-                }
-
-                if (yaw_expected > 180) {
-                    yaw_expected -= 360;
-                }
-
-                //printf("roll:%d pitch:%d yaw:%d\n", roll, pitch, yaw);
-                Euler<double> euler_expected(
-                    deg2rad * roll_expected,
-                    deg2rad * pitch,
-                    deg2rad * yaw_expected);
-                Euler<double> euler(
-                    deg2rad * roll,
-                    deg2rad * pitch,
-                    deg2rad * yaw);
-                Dcm<double> dcm_from_euler(euler);
-                //dcm_from_euler.print();
-                Euler<double> euler_out(dcm_from_euler);
-                TEST(isEqual(rad2deg * euler_expected, rad2deg * euler_out));
-
-                Eulerf eulerf_expected(
-                    float(deg2rad)*float(roll_expected),
-                    float(deg2rad)*float(pitch),
-                    float(deg2rad)*float(yaw_expected));
-                Eulerf eulerf(float(deg2rad)*float(roll),
-                              float(deg2rad)*float(pitch),
-                              float(deg2rad)*float(yaw));
-                Dcm<float> dcm_from_eulerf;
-                dcm_from_eulerf = eulerf;
-                Euler<float> euler_outf(dcm_from_eulerf);
-                TEST(isEqual(float(rad2deg)*eulerf_expected,
-                             float(rad2deg)*euler_outf));
-            }
-        }
-    }
-
-    // quaterion copy ctors
-    float data_v4[] = {1, 2, 3, 4};
-    Vector<float, 4> v4(data_v4);
-    Quatf q_from_v(v4);
-    TEST(isEqual(q_from_v, v4));
-
-    Matrix<float, 4, 1> m4(data_v4);
-    Quatf q_from_m(m4);
-    TEST(isEqual(q_from_m, m4));
-
-    // quaternion derivative in frame 1
-    Quatf q1(0, 1, 0, 0);
-    Vector<float, 4> q1_dot1 = q1.derivative1(Vector3f(1, 2, 3));
-    float data_q_dot1_check[] = { -0.5f, 0.0f, -1.5f, 1.0f};
-    Vector<float, 4> q1_dot1_check(data_q_dot1_check);
-    TEST(isEqual(q1_dot1, q1_dot1_check));
-
-    // quaternion derivative in frame 2
-    Vector<float, 4> q1_dot2 = q1.derivative2(Vector3f(1, 2, 3));
-    float data_q_dot2_check[] = { -0.5f, 0.0f, 1.5f, -1.0f};
-    Vector<float, 4> q1_dot2_check(data_q_dot2_check);
-    TEST(isEqual(q1_dot2, q1_dot2_check));
-
-    // quaternion product
-    Quatf q_prod_check(
-        0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
-    TEST(isEqual(q_prod_check, q_check * q_check));
-    q_check *= q_check;
-    TEST(isEqual(q_prod_check, q_check));
-
-    // Quaternion scalar multiplication
-    float scalar = 0.5;
-    Quatf q_scalar_mul(1.0f, 2.0f, 3.0f, 4.0f);
-    Quatf q_scalar_mul_check(1.0f * scalar, 2.0f * scalar,
-                             3.0f * scalar,  4.0f * scalar);
-    Quatf q_scalar_mul_res = scalar * q_scalar_mul;
-    TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res));
-    Quatf q_scalar_mul_res2 = q_scalar_mul * scalar;
-    TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res2));
-    Quatf q_scalar_mul_res3(q_scalar_mul);
-    q_scalar_mul_res3 *= scalar;
-    TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res3));
-
-    // quaternion inverse
-    q = q_check.inversed();
-    TEST(fabs(q_check(0) - q(0)) < eps);
-    TEST(fabs(q_check(1) + q(1)) < eps);
-    TEST(fabs(q_check(2) + q(2)) < eps);
-    TEST(fabs(q_check(3) + q(3)) < eps);
-
-    q = q_check;
-    q.invert();
-    TEST(fabs(q_check(0) - q(0)) < eps);
-    TEST(fabs(q_check(1) + q(1)) < eps);
-    TEST(fabs(q_check(2) + q(2)) < eps);
-    TEST(fabs(q_check(3) + q(3)) < eps);
-
-    // quaternion canonical
-    Quatf q_non_canonical_1(-0.7f,0.4f, 0.3f, -0.3f);
-    Quatf q_canonical_1(0.7f,-0.4f, -0.3f, 0.3f);
-    Quatf q_canonical_ref_1(0.7f,-0.4f, -0.3f, 0.3f);
-    TEST(isEqual(q_non_canonical_1.canonical(),q_canonical_ref_1));
-    TEST(isEqual(q_canonical_1.canonical(),q_canonical_ref_1));
-    q_non_canonical_1.canonicalize();
-    q_canonical_1.canonicalize();
-    TEST(isEqual(q_non_canonical_1,q_canonical_ref_1));
-    TEST(isEqual(q_canonical_1,q_canonical_ref_1));
-
-    Quatf q_non_canonical_2(0.0f, -1.0f, 0.0f, 0.0f);
-    Quatf q_canonical_2(0.0f, 1.0f, 0.0f, 0.0f);
-    Quatf q_canonical_ref_2(0.0f, 1.0f, 0.0f, 0.0f);
-    TEST(isEqual(q_non_canonical_2.canonical(),q_canonical_ref_2));
-    TEST(isEqual(q_canonical_2.canonical(),q_canonical_ref_2));
-    q_non_canonical_2.canonicalize();
-    q_canonical_2.canonicalize();
-    TEST(isEqual(q_non_canonical_2,q_canonical_ref_2));
-    TEST(isEqual(q_canonical_2,q_canonical_ref_2));
-
-    Quatf q_non_canonical_3(0.0f, 0.0f, -1.0f, 0.0f);
-    Quatf q_canonical_3(0.0f, 0.0f, 1.0f, 0.0f);
-    Quatf q_canonical_ref_3(0.0f, 0.0f, 1.0f, 0.0f);
-    TEST(isEqual(q_non_canonical_3.canonical(),q_canonical_ref_3));
-    TEST(isEqual(q_canonical_3.canonical(),q_canonical_ref_3));
-    q_non_canonical_3.canonicalize();
-    q_canonical_3.canonicalize();
-    TEST(isEqual(q_non_canonical_3,q_canonical_ref_3));
-    TEST(isEqual(q_canonical_3,q_canonical_ref_3));
-
-    Quatf q_non_canonical_4(0.0f, 0.0f, 0.0f, -1.0f);
-    Quatf q_canonical_4(0.0f, 0.0f, 0.0f, 1.0f);
-    Quatf q_canonical_ref_4(0.0f, 0.0f, 0.0f, 1.0f);
-    TEST(isEqual(q_non_canonical_4.canonical(),q_canonical_ref_4));
-    TEST(isEqual(q_canonical_4.canonical(),q_canonical_ref_4));
-    q_non_canonical_4.canonicalize();
-    q_canonical_4.canonicalize();
-    TEST(isEqual(q_non_canonical_4,q_canonical_ref_4));
-    TEST(isEqual(q_canonical_4,q_canonical_ref_4));
-
-    Quatf q_non_canonical_5(0.0f, 0.0f, 0.0f, 0.0f);
-    Quatf q_canonical_5(0.0f, 0.0f, 0.0f, 0.0f);
-    Quatf q_canonical_ref_5(0.0f, 0.0f, 0.0f, 0.0f);
-    TEST(isEqual(q_non_canonical_5.canonical(),q_canonical_ref_5));
-    TEST(isEqual(q_canonical_5.canonical(),q_canonical_ref_5));
-    q_non_canonical_5.canonicalize();
-    q_canonical_5.canonicalize();
-    TEST(isEqual(q_non_canonical_5,q_canonical_ref_5));
-    TEST(isEqual(q_canonical_5,q_canonical_ref_5));
-
-    // quaternion setIdentity
-    Quatf q_nonIdentity(-0.7f, 0.4f, 0.5f, -0.3f);
-    q_nonIdentity.setIdentity();
-    TEST(isEqual(q_nonIdentity, Quatf()));
-
-    // non-unit quaternion invese
-    Quatf q_nonunit(0.1f, 0.2f, 0.3f, 0.4f);
-    TEST(isEqual(q_nonunit*q_nonunit.inversed(), Quatf()));
-
-    // rotate quaternion (nonzero rotation)
-    Vector3f rot(1.f, 0.f, 0.f);
-    Quatf q_test;
-    q_test.rotate(rot);
-    Quatf q_true(cos(1.0f / 2), sin(1.0f / 2), 0.0f, 0.0f);
-    TEST(isEqual(q_test, q_true));
-
-    // rotate quaternion (zero rotation)
-    rot(0) = rot(1) = rot(2) = 0.0f;
-    q_test = Quatf();
-    q_test.rotate(rot);
-    q_true = Quatf(cos(0.0f), sin(0.0f), 0.0f, 0.0f);
-    TEST(isEqual(q_test, q_true));
-
-    // rotate quaternion (random non-commutating rotation)
-    q = Quatf(AxisAnglef(5.1f, 3.2f, 8.4f));
-    rot = Vector3f(1.1f, 2.5f, 3.8f);
-    q.rotate(rot);
-    q_true = Quatf(0.3019f, 0.2645f, 0.2268f, 0.8874f);
-    TEST(isEqual(q, q_true));
-
-    // get rotation axis from quaternion (nonzero rotation)
-    q = Quatf(cos(1.0f / 2), 0.0f, sin(1.0f / 2), 0.0f);
-    rot = AxisAnglef(q);
-    TEST(fabs(rot(0)) < eps);
-    TEST(fabs(rot(1) - 1.0f) < eps);
-    TEST(fabs(rot(2)) < eps);
-
-    // get rotation axis from quaternion (zero rotation)
-    q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
-    rot = AxisAnglef(q);
-    TEST(fabs(rot(0)) < eps);
-    TEST(fabs(rot(1)) < eps);
-    TEST(fabs(rot(2)) < eps);
-
-    // from axis angle (zero rotation)
-    rot(0) = rot(1) = rot(2) = 0.0f;
-    q = Quatf(AxisAnglef(rot));
-    q_true = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
-    TEST(isEqual(q, q_true));
-
-    // from axis angle, with length of vector the rotation
-    float n = float(sqrt(4*M_PI*M_PI/3));
-    q = AxisAnglef(n, n, n);
-    TEST(isEqual(q, Quatf(-1, 0, 0, 0)));
-    q = AxisAnglef(0, 0, 0);
-    TEST(isEqual(q, Quatf(1, 0, 0, 0)));
-
-    // Quaternion initialisation per array
-    float q_array[] = {0.9833f, -0.0343f, -0.1060f, -0.1436f};
-    Quaternion<float>q_from_array(q_array);
-
-    for (size_t i = 0; i < 4; i++) {
-        TEST(fabs(q_from_array(i) - q_array[i]) < eps);
-    }
-
-    // axis angle
-    AxisAnglef aa_true(Vector3f(1.0f, 2.0f, 3.0f));
-    TEST(isEqual(aa_true, Vector3f(1.0f, 2.0f, 3.0f)));
-    AxisAnglef aa_empty;
-    TEST(isEqual(aa_empty, AxisAnglef(0.0f, 0.0f, 0.0f)));
-    float aa_data[] =  {4.0f, 5.0f, 6.0f};
-    AxisAnglef aa_data_init(aa_data);
-    TEST(isEqual(aa_data_init, AxisAnglef(4.0f, 5.0f, 6.0f)));
-
-    AxisAnglef aa_norm_check(Vector3f(0.0f, 0.0f, 0.0f));
-    TEST(isEqual(aa_norm_check.axis(), Vector3f(1, 0, 0)));
-    TEST(isEqualF(aa_norm_check.angle(), 0.0f));
-
-    q = Quatf(-0.29555112749297824f, 0.25532186f,  0.51064372f,  0.76596558f);
-    float r_array[9] = {-0.6949206f, 0.713521f, 0.089292854f, -0.19200698f, -0.30378509f, 0.93319237f, 0.69297814f, 0.63134968f, 0.34810752f};
-    R = Dcmf(r_array);
-    TEST(isEqual(q.imag(), Vector3f(0.25532186f,  0.51064372f,  0.76596558f)));
-
-    // from dcm
-    TEST(isEqual(Quatf(R), q));
-    TEST(isEqual(Quatf(Dcmf(q)), q));
-
-    // to dcm
-    TEST(isEqual(Dcmf(q), R));
-    TEST(isEqual(Dcmf(Quatf(R)), R));
-
-    // conjugate
-    v = Vector3f(1.5f, 2.2f, 3.2f);
-    TEST(isEqual(q.conjugate_inversed(v1), Dcmf(q).T()*v1));
-    TEST(isEqual(q.conjugate(v1), Dcmf(q)*v1));
-
-    AxisAnglef aa_q_init(q);
-    TEST(isEqual(aa_q_init, AxisAnglef(1.0f, 2.0f, 3.0f)));
-
-    AxisAnglef aa_euler_init(Eulerf(0.0f, 0.0f, 0.0f));
-    TEST(isEqual(aa_euler_init, Vector3f(0.0f, 0.0f, 0.0f)));
-
-    Dcmf dcm_aa_check = AxisAnglef(dcm_check);
-    TEST(isEqual(dcm_aa_check, dcm_check));
-
-    AxisAnglef aa_axis_angle_init(Vector3f(1.0f, 2.0f, 3.0f), 3.0f);
-    TEST(isEqual(aa_axis_angle_init, Vector3f(0.80178373f, 1.60356745f, 2.40535118f)));
-    TEST(isEqual(aa_axis_angle_init.axis(), Vector3f(0.26726124f,  0.53452248f,  0.80178373f)));
-    TEST(isEqualF(aa_axis_angle_init.angle(), 3.0f));
-    TEST(isEqual(Quatf((AxisAnglef(Vector3f(0.0f, 0.0f, 1.0f), 0.0f))),
-                 Quatf(1.0f, 0.0f, 0.0f, 0.0f)));
-
-
-    // check consistentcy of quaternion and dcm product
-    Dcmf dcm3(Eulerf(1, 2, 3));
-    Dcmf dcm4(Eulerf(4, 5, 6));
-    Dcmf dcm34 = dcm3 * dcm4;
-    TEST(isEqual(Eulerf(Quatf(dcm3)*Quatf(dcm4)), Eulerf(dcm34)));
-
-    // check corner cases of matrix to quaternion conversion
-    q = Quatf(0,1,0,0); // 180 degree rotation around the x axis
-    R = Dcmf(q);
-    TEST(isEqual(q, Quatf(R)));
-    q = Quatf(0,0,1,0); // 180 degree rotation around the y axis
-    R = Dcmf(q);
-    TEST(isEqual(q, Quatf(R)));
-    q = Quatf(0,0,0,1); // 180 degree rotation around the z axis
-    R = Dcmf(q);
-    TEST(isEqual(q, Quatf(R)));
+	// check data
+	Eulerf euler_check(0.1f, 0.2f, 0.3f);
+	Quatf q_check(0.98334744f, 0.0342708f, 0.10602051f, .14357218f);
+	float dcm_data[] =  {
+		0.93629336f, -0.27509585f,  0.21835066f,
+		0.28962948f,  0.95642509f, -0.03695701f,
+		-0.19866933f,  0.0978434f,  0.97517033f
+	};
+	Dcmf dcm_check(dcm_data);
+
+	// euler ctor
+	TEST(isEqual(euler_check, Vector3f(0.1f, 0.2f, 0.3f)));
+
+	// euler default ctor
+	Eulerf e;
+	Eulerf e_zero = zeros<float, 3, 1>();
+	TEST(isEqual(e, e_zero));
+	TEST(isEqual(e, e));
+
+	// euler vector ctor
+	Vector3f v(0.1f, 0.2f, 0.3f);
+	Eulerf euler_copy(v);
+	TEST(isEqual(euler_copy, euler_check));
+
+	// quaternion ctor
+	Quatf q0(1, 2, 3, 4);
+	Quatf q(q0);
+	double eps = 1e-6;
+	TEST(fabs(q(0) - 1) < eps);
+	TEST(fabs(q(1) - 2) < eps);
+	TEST(fabs(q(2) - 3) < eps);
+	TEST(fabs(q(3) - 4) < eps);
+
+	// quaternion ctor: vector to vector
+	// identity test
+	Quatf quat_v(v, v);
+	TEST(isEqual(quat_v.conjugate(v), v));
+	// random test (vector norm can not be preserved with a pure rotation)
+	Vector3f v1(-80.1f, 1.5f, -6.89f);
+	quat_v = Quatf(v1, v);
+	TEST(isEqual(quat_v.conjugate(v1).normalized() * v.norm(), v));
+	// special 180 degree case 1
+	v1 = Vector3f(0.f, 1.f, 1.f);
+	quat_v = Quatf(v1, -v1);
+	TEST(isEqual(quat_v.conjugate(v1), -v1));
+	// special 180 degree case 2
+	v1 = Vector3f(1.f, 2.f, 0.f);
+	quat_v = Quatf(v1, -v1);
+	TEST(isEqual(quat_v.conjugate(v1), -v1));
+	// special 180 degree case 3
+	v1 = Vector3f(0.f, 0.f, 1.f);
+	quat_v = Quatf(v1, -v1);
+	TEST(isEqual(quat_v.conjugate(v1), -v1));
+	// special 180 degree case 4
+	v1 = Vector3f(1.f, 1.f, 1.f);
+	quat_v = Quatf(v1, -v1);
+	TEST(isEqual(quat_v.conjugate(v1), -v1));
+
+	// quat normalization
+	q.normalize();
+	TEST(isEqual(q, Quatf(0.18257419f,  0.36514837f,
+			      0.54772256f,  0.73029674f)));
+	TEST(isEqual(q0.unit(), q));
+	TEST(isEqual(q0.unit(), q0.normalized()));
+
+	// quat default ctor
+	q = Quatf();
+	TEST(isEqual(q, Quatf(1, 0, 0, 0)));
+
+	// quaternion exponential with v=0
+	v = Vector3f();
+	q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
+	Dcmf M = Dcmf() * 0.5f;
+	TEST(isEqual(q, Quatf::expq(v)));
+	TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
+
+	// quaternion exponential with small v
+	v = Vector3f(0.001f, 0.002f, -0.003f);
+	q = Quatf(0.999993000008167f, 0.000999997666668f,
+		  0.001999995333337f, -0.002999993000005f);
+	{
+		float M_data[] =  {
+			0.499997833331311f, 0.001500333333644f,  0.000999499999533f,
+			-0.001499666666356f, 0.499998333331778f, -0.000501000000933f,
+			-0.001000500000467f, 0.000498999999067f,  0.499999166665889f
+		};
+		M = Dcmf(M_data);
+	}
+	TEST(isEqual(q, Quatf::expq(v)));
+	TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
+
+	// quaternion exponential with v
+	v = Vector3f(1.0f, -2.0f, 3.0f);
+	q = Quatf(-0.825299062075259f, -0.150921327219964f,
+		  0.301842654439929f, -0.452763981659893f);
+	{
+		float M_data[] =  {
+			2.574616981530584f, -1.180828156687602f, -1.478757764968596f,
+			1.819171843312398f,  2.095859216561988f,  0.457515529937193f,
+			0.521242235031404f,  1.457515529937193f,  1.297929608280994f
+		};
+		M = Dcmf(M_data);
+	}
+	TEST(isEqual(q, Quatf::expq(v)));
+	TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
+
+	// quaternion kinematic update
+	q = Quatf();
+	float h = 0.001f;  // sampling time [s]
+	Vector3f w_B = Vector3f(0.1f, 0.2f, 0.3f); // body rate in body frame
+	Quatf qa = q + 0.5f * h * q.derivative1(w_B);
+	qa.normalize();
+	Quatf qb = q * Quatf::expq(0.5f * h * w_B);
+	TEST(isEqual(qa, qb));
+
+	// euler to quaternion
+	q = Quatf(euler_check);
+	TEST(isEqual(q, q_check));
+
+	// euler to dcm
+	Dcmf dcm(euler_check);
+	TEST(isEqual(dcm, dcm_check));
+
+	// quaternion to euler
+	Eulerf e1(q_check);
+	TEST(isEqual(e1, euler_check));
+
+	// quaternion to dcm
+	Dcmf dcm1(q_check);
+	TEST(isEqual(dcm1, dcm_check));
+	// quaternion z-axis unit base vector
+	Vector3f q_z = q_check.dcm_z();
+	Vector3f R_z(dcm_check(0, 2), dcm_check(1, 2), dcm_check(2, 2));
+	TEST(isEqual(q_z, R_z));
+
+	// dcm default ctor
+	Dcmf dcm2;
+	SquareMatrix<float, 3> I = eye<float, 3>();
+	TEST(isEqual(dcm2, I));
+
+	// dcm to euler
+	Eulerf e2(dcm_check);
+	TEST(isEqual(e2, euler_check));
+
+	// dcm to quaterion
+	Quatf q2(dcm_check);
+	TEST(isEqual(q2, q_check));
+
+	// dcm renormalize
+	Dcmf A = eye<float, 3>();
+	Dcmf R(euler_check);
+
+	for (size_t i = 0; i < 1000; i++) {
+		A = R * A;
+	}
+
+	A.renormalize();
+	float err = 0.0f;
+
+	for (size_t r = 0; r < 3; r++) {
+		Vector3f rvec(matrix::Matrix<float, 1, 3>(A.row(r)).transpose());
+		err += fabs(1.0f - rvec.length());
+	}
+
+	TEST(err < eps);
+
+	// constants
+	double deg2rad = M_PI / 180.0;
+	double rad2deg = 180.0 / M_PI;
+
+	// euler dcm round trip check
+	for (double roll = -90; roll <= 90; roll += 90) {
+		for (double pitch = -90; pitch <= 90; pitch += 90) {
+			for (double yaw = -179; yaw <= 180; yaw += 90) {
+				// note if theta = pi/2, then roll is set to zero
+				double roll_expected = roll;
+				double yaw_expected = yaw;
+
+				if (fabs(pitch - 90) < eps) {
+					roll_expected = 0;
+					yaw_expected = yaw - roll;
+
+				} else if (fabs(pitch + 90) < eps) {
+					roll_expected = 0;
+					yaw_expected = yaw + roll;
+				}
+
+				if (yaw_expected < -180) {
+					yaw_expected += 360;
+				}
+
+				if (yaw_expected > 180) {
+					yaw_expected -= 360;
+				}
+
+				//printf("roll:%d pitch:%d yaw:%d\n", roll, pitch, yaw);
+				Euler<double> euler_expected(
+					deg2rad * roll_expected,
+					deg2rad * pitch,
+					deg2rad * yaw_expected);
+				Euler<double> euler(
+					deg2rad * roll,
+					deg2rad * pitch,
+					deg2rad * yaw);
+				Dcm<double> dcm_from_euler(euler);
+				//dcm_from_euler.print();
+				Euler<double> euler_out(dcm_from_euler);
+				TEST(isEqual(rad2deg * euler_expected, rad2deg * euler_out));
+
+				Eulerf eulerf_expected(
+					float(deg2rad)*float(roll_expected),
+					float(deg2rad)*float(pitch),
+					float(deg2rad)*float(yaw_expected));
+				Eulerf eulerf(float(deg2rad)*float(roll),
+					      float(deg2rad)*float(pitch),
+					      float(deg2rad)*float(yaw));
+				Dcm<float> dcm_from_eulerf;
+				dcm_from_eulerf = eulerf;
+				Euler<float> euler_outf(dcm_from_eulerf);
+				TEST(isEqual(float(rad2deg)*eulerf_expected,
+					     float(rad2deg)*euler_outf));
+			}
+		}
+	}
+
+	// quaterion copy ctors
+	float data_v4[] = {1, 2, 3, 4};
+	Vector<float, 4> v4(data_v4);
+	Quatf q_from_v(v4);
+	TEST(isEqual(q_from_v, v4));
+
+	Matrix<float, 4, 1> m4(data_v4);
+	Quatf q_from_m(m4);
+	TEST(isEqual(q_from_m, m4));
+
+	// quaternion derivative in frame 1
+	Quatf q1(0, 1, 0, 0);
+	Vector<float, 4> q1_dot1 = q1.derivative1(Vector3f(1, 2, 3));
+	float data_q_dot1_check[] = { -0.5f, 0.0f, -1.5f, 1.0f};
+	Vector<float, 4> q1_dot1_check(data_q_dot1_check);
+	TEST(isEqual(q1_dot1, q1_dot1_check));
+
+	// quaternion derivative in frame 2
+	Vector<float, 4> q1_dot2 = q1.derivative2(Vector3f(1, 2, 3));
+	float data_q_dot2_check[] = { -0.5f, 0.0f, 1.5f, -1.0f};
+	Vector<float, 4> q1_dot2_check(data_q_dot2_check);
+	TEST(isEqual(q1_dot2, q1_dot2_check));
+
+	// quaternion product
+	Quatf q_prod_check(
+		0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
+	TEST(isEqual(q_prod_check, q_check * q_check));
+	q_check *= q_check;
+	TEST(isEqual(q_prod_check, q_check));
+
+	// Quaternion scalar multiplication
+	float scalar = 0.5;
+	Quatf q_scalar_mul(1.0f, 2.0f, 3.0f, 4.0f);
+	Quatf q_scalar_mul_check(1.0f * scalar, 2.0f * scalar,
+				 3.0f * scalar,  4.0f * scalar);
+	Quatf q_scalar_mul_res = scalar * q_scalar_mul;
+	TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res));
+	Quatf q_scalar_mul_res2 = q_scalar_mul * scalar;
+	TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res2));
+	Quatf q_scalar_mul_res3(q_scalar_mul);
+	q_scalar_mul_res3 *= scalar;
+	TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res3));
+
+	// quaternion inverse
+	q = q_check.inversed();
+	TEST(fabs(q_check(0) - q(0)) < eps);
+	TEST(fabs(q_check(1) + q(1)) < eps);
+	TEST(fabs(q_check(2) + q(2)) < eps);
+	TEST(fabs(q_check(3) + q(3)) < eps);
+
+	q = q_check;
+	q.invert();
+	TEST(fabs(q_check(0) - q(0)) < eps);
+	TEST(fabs(q_check(1) + q(1)) < eps);
+	TEST(fabs(q_check(2) + q(2)) < eps);
+	TEST(fabs(q_check(3) + q(3)) < eps);
+
+	// quaternion canonical
+	Quatf q_non_canonical_1(-0.7f, 0.4f, 0.3f, -0.3f);
+	Quatf q_canonical_1(0.7f, -0.4f, -0.3f, 0.3f);
+	Quatf q_canonical_ref_1(0.7f, -0.4f, -0.3f, 0.3f);
+	TEST(isEqual(q_non_canonical_1.canonical(), q_canonical_ref_1));
+	TEST(isEqual(q_canonical_1.canonical(), q_canonical_ref_1));
+	q_non_canonical_1.canonicalize();
+	q_canonical_1.canonicalize();
+	TEST(isEqual(q_non_canonical_1, q_canonical_ref_1));
+	TEST(isEqual(q_canonical_1, q_canonical_ref_1));
+
+	Quatf q_non_canonical_2(0.0f, -1.0f, 0.0f, 0.0f);
+	Quatf q_canonical_2(0.0f, 1.0f, 0.0f, 0.0f);
+	Quatf q_canonical_ref_2(0.0f, 1.0f, 0.0f, 0.0f);
+	TEST(isEqual(q_non_canonical_2.canonical(), q_canonical_ref_2));
+	TEST(isEqual(q_canonical_2.canonical(), q_canonical_ref_2));
+	q_non_canonical_2.canonicalize();
+	q_canonical_2.canonicalize();
+	TEST(isEqual(q_non_canonical_2, q_canonical_ref_2));
+	TEST(isEqual(q_canonical_2, q_canonical_ref_2));
+
+	Quatf q_non_canonical_3(0.0f, 0.0f, -1.0f, 0.0f);
+	Quatf q_canonical_3(0.0f, 0.0f, 1.0f, 0.0f);
+	Quatf q_canonical_ref_3(0.0f, 0.0f, 1.0f, 0.0f);
+	TEST(isEqual(q_non_canonical_3.canonical(), q_canonical_ref_3));
+	TEST(isEqual(q_canonical_3.canonical(), q_canonical_ref_3));
+	q_non_canonical_3.canonicalize();
+	q_canonical_3.canonicalize();
+	TEST(isEqual(q_non_canonical_3, q_canonical_ref_3));
+	TEST(isEqual(q_canonical_3, q_canonical_ref_3));
+
+	Quatf q_non_canonical_4(0.0f, 0.0f, 0.0f, -1.0f);
+	Quatf q_canonical_4(0.0f, 0.0f, 0.0f, 1.0f);
+	Quatf q_canonical_ref_4(0.0f, 0.0f, 0.0f, 1.0f);
+	TEST(isEqual(q_non_canonical_4.canonical(), q_canonical_ref_4));
+	TEST(isEqual(q_canonical_4.canonical(), q_canonical_ref_4));
+	q_non_canonical_4.canonicalize();
+	q_canonical_4.canonicalize();
+	TEST(isEqual(q_non_canonical_4, q_canonical_ref_4));
+	TEST(isEqual(q_canonical_4, q_canonical_ref_4));
+
+	Quatf q_non_canonical_5(0.0f, 0.0f, 0.0f, 0.0f);
+	Quatf q_canonical_5(0.0f, 0.0f, 0.0f, 0.0f);
+	Quatf q_canonical_ref_5(0.0f, 0.0f, 0.0f, 0.0f);
+	TEST(isEqual(q_non_canonical_5.canonical(), q_canonical_ref_5));
+	TEST(isEqual(q_canonical_5.canonical(), q_canonical_ref_5));
+	q_non_canonical_5.canonicalize();
+	q_canonical_5.canonicalize();
+	TEST(isEqual(q_non_canonical_5, q_canonical_ref_5));
+	TEST(isEqual(q_canonical_5, q_canonical_ref_5));
+
+	// quaternion setIdentity
+	Quatf q_nonIdentity(-0.7f, 0.4f, 0.5f, -0.3f);
+	q_nonIdentity.setIdentity();
+	TEST(isEqual(q_nonIdentity, Quatf()));
+
+	// non-unit quaternion invese
+	Quatf q_nonunit(0.1f, 0.2f, 0.3f, 0.4f);
+	TEST(isEqual(q_nonunit * q_nonunit.inversed(), Quatf()));
+
+	// rotate quaternion (nonzero rotation)
+	Vector3f rot(1.f, 0.f, 0.f);
+	Quatf q_test;
+	q_test.rotate(rot);
+	Quatf q_true(cos(1.0f / 2), sin(1.0f / 2), 0.0f, 0.0f);
+	TEST(isEqual(q_test, q_true));
+
+	// rotate quaternion (zero rotation)
+	rot(0) = rot(1) = rot(2) = 0.0f;
+	q_test = Quatf();
+	q_test.rotate(rot);
+	q_true = Quatf(cos(0.0f), sin(0.0f), 0.0f, 0.0f);
+	TEST(isEqual(q_test, q_true));
+
+	// rotate quaternion (random non-commutating rotation)
+	q = Quatf(AxisAnglef(5.1f, 3.2f, 8.4f));
+	rot = Vector3f(1.1f, 2.5f, 3.8f);
+	q.rotate(rot);
+	q_true = Quatf(0.3019f, 0.2645f, 0.2268f, 0.8874f);
+	TEST(isEqual(q, q_true));
+
+	// get rotation axis from quaternion (nonzero rotation)
+	q = Quatf(cos(1.0f / 2), 0.0f, sin(1.0f / 2), 0.0f);
+	rot = AxisAnglef(q);
+	TEST(fabs(rot(0)) < eps);
+	TEST(fabs(rot(1) - 1.0f) < eps);
+	TEST(fabs(rot(2)) < eps);
+
+	// get rotation axis from quaternion (zero rotation)
+	q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
+	rot = AxisAnglef(q);
+	TEST(fabs(rot(0)) < eps);
+	TEST(fabs(rot(1)) < eps);
+	TEST(fabs(rot(2)) < eps);
+
+	// from axis angle (zero rotation)
+	rot(0) = rot(1) = rot(2) = 0.0f;
+	q = Quatf(AxisAnglef(rot));
+	q_true = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
+	TEST(isEqual(q, q_true));
+
+	// from axis angle, with length of vector the rotation
+	float n = float(sqrt(4 * M_PI * M_PI / 3));
+	q = AxisAnglef(n, n, n);
+	TEST(isEqual(q, Quatf(-1, 0, 0, 0)));
+	q = AxisAnglef(0, 0, 0);
+	TEST(isEqual(q, Quatf(1, 0, 0, 0)));
+
+	// Quaternion initialisation per array
+	float q_array[] = {0.9833f, -0.0343f, -0.1060f, -0.1436f};
+	Quaternion<float>q_from_array(q_array);
+
+	for (size_t i = 0; i < 4; i++) {
+		TEST(fabs(q_from_array(i) - q_array[i]) < eps);
+	}
+
+	// axis angle
+	AxisAnglef aa_true(Vector3f(1.0f, 2.0f, 3.0f));
+	TEST(isEqual(aa_true, Vector3f(1.0f, 2.0f, 3.0f)));
+	AxisAnglef aa_empty;
+	TEST(isEqual(aa_empty, AxisAnglef(0.0f, 0.0f, 0.0f)));
+	float aa_data[] =  {4.0f, 5.0f, 6.0f};
+	AxisAnglef aa_data_init(aa_data);
+	TEST(isEqual(aa_data_init, AxisAnglef(4.0f, 5.0f, 6.0f)));
+
+	AxisAnglef aa_norm_check(Vector3f(0.0f, 0.0f, 0.0f));
+	TEST(isEqual(aa_norm_check.axis(), Vector3f(1, 0, 0)));
+	TEST(isEqualF(aa_norm_check.angle(), 0.0f));
+
+	q = Quatf(-0.29555112749297824f, 0.25532186f,  0.51064372f,  0.76596558f);
+	float r_array[9] = {-0.6949206f, 0.713521f, 0.089292854f, -0.19200698f, -0.30378509f, 0.93319237f, 0.69297814f, 0.63134968f, 0.34810752f};
+	R = Dcmf(r_array);
+	TEST(isEqual(q.imag(), Vector3f(0.25532186f,  0.51064372f,  0.76596558f)));
+
+	// from dcm
+	TEST(isEqual(Quatf(R), q));
+	TEST(isEqual(Quatf(Dcmf(q)), q));
+
+	// to dcm
+	TEST(isEqual(Dcmf(q), R));
+	TEST(isEqual(Dcmf(Quatf(R)), R));
+
+	// conjugate
+	v = Vector3f(1.5f, 2.2f, 3.2f);
+	TEST(isEqual(q.conjugate_inversed(v1), Dcmf(q).T()*v1));
+	TEST(isEqual(q.conjugate(v1), Dcmf(q)*v1));
+
+	AxisAnglef aa_q_init(q);
+	TEST(isEqual(aa_q_init, AxisAnglef(1.0f, 2.0f, 3.0f)));
+
+	AxisAnglef aa_euler_init(Eulerf(0.0f, 0.0f, 0.0f));
+	TEST(isEqual(aa_euler_init, Vector3f(0.0f, 0.0f, 0.0f)));
+
+	Dcmf dcm_aa_check = AxisAnglef(dcm_check);
+	TEST(isEqual(dcm_aa_check, dcm_check));
+
+	AxisAnglef aa_axis_angle_init(Vector3f(1.0f, 2.0f, 3.0f), 3.0f);
+	TEST(isEqual(aa_axis_angle_init, Vector3f(0.80178373f, 1.60356745f, 2.40535118f)));
+	TEST(isEqual(aa_axis_angle_init.axis(), Vector3f(0.26726124f,  0.53452248f,  0.80178373f)));
+	TEST(isEqualF(aa_axis_angle_init.angle(), 3.0f));
+	TEST(isEqual(Quatf((AxisAnglef(Vector3f(0.0f, 0.0f, 1.0f), 0.0f))),
+		     Quatf(1.0f, 0.0f, 0.0f, 0.0f)));
+
+
+	// check consistentcy of quaternion and dcm product
+	Dcmf dcm3(Eulerf(1, 2, 3));
+	Dcmf dcm4(Eulerf(4, 5, 6));
+	Dcmf dcm34 = dcm3 * dcm4;
+	TEST(isEqual(Eulerf(Quatf(dcm3)*Quatf(dcm4)), Eulerf(dcm34)));
+
+	// check corner cases of matrix to quaternion conversion
+	q = Quatf(0, 1, 0, 0); // 180 degree rotation around the x axis
+	R = Dcmf(q);
+	TEST(isEqual(q, Quatf(R)));
+	q = Quatf(0, 0, 1, 0); // 180 degree rotation around the y axis
+	R = Dcmf(q);
+	TEST(isEqual(q, Quatf(R)));
+	q = Quatf(0, 0, 0, 1); // 180 degree rotation around the z axis
+	R = Dcmf(q);
+	TEST(isEqual(q, Quatf(R)));
 
 #if defined(SUPPORT_STDIOSTREAM)
-    std::cout << "q:" << q;
+	std::cout << "q:" << q;
 #endif
-    return 0;
+	return 0;
 }
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/copyto.cpp

@@ -3,70 +3,76 @@
 
 using namespace matrix;
 
-namespace {
-void doTheCopy(const Matrix<float, 2, 3>& A, float array_A[6])
+namespace
 {
-    A.copyTo(array_A);
+void doTheCopy(const Matrix<float, 2, 3> &A, float array_A[6])
+{
+	A.copyTo(array_A);
 }
 }
 
 int main()
 {
-    float eps = 1e-6f;
+	float eps = 1e-6f;
 
-    // Vector3 copyTo
-    const Vector3f v(1, 2, 3);
-    float dst3[3] = {};
-    v.copyTo(dst3);
-    for (size_t i = 0; i < 3; i++) {
-        TEST(fabs(v(i) - dst3[i]) < eps);
-    }
+	// Vector3 copyTo
+	const Vector3f v(1, 2, 3);
+	float dst3[3] = {};
+	v.copyTo(dst3);
 
-    // Quaternion copyTo
-    Quatf q(1, 2, 3, 4);
-    float dst4[4] = {};
-    q.copyTo(dst4);
-    for (size_t i = 0; i < 4; i++) {
-        TEST(fabs(q(i) - dst4[i]) < eps);
-    }
+	for (size_t i = 0; i < 3; i++) {
+		TEST(fabs(v(i) - dst3[i]) < eps);
+	}
 
-    // Matrix copyTo
-    Matrix<float, 2, 3> A;
-    A(0,0) = 1;
-    A(0,1) = 2;
-    A(0,2) = 3;
-    A(1,0) = 4;
-    A(1,1) = 5;
-    A(1,2) = 6;
-    float array_A[6] = {};
-    doTheCopy(A, array_A);
-    float array_row[6] = {1, 2, 3, 4, 5, 6};
-    for (size_t i = 0; i < 6; i++) {
-        TEST(fabs(array_A[i] - array_row[i]) < eps);
-    }
+	// Quaternion copyTo
+	Quatf q(1, 2, 3, 4);
+	float dst4[4] = {};
+	q.copyTo(dst4);
 
-    // Matrix copyToColumnMajor
-    A.copyToColumnMajor(array_A);
-    float array_column[6] = {1, 4, 2, 5, 3, 6};
-    for (size_t i = 0; i < 6; i++) {
-        TEST(fabs(array_A[i] - array_column[i]) < eps);
-    }
+	for (size_t i = 0; i < 4; i++) {
+		TEST(fabs(q(i) - dst4[i]) < eps);
+	}
 
-    // Slice copyTo
-    float dst5[2] = {};
-    v.slice<2,1>(0,0).copyTo(dst5);
-    for (size_t i = 0; i < 2; i++) {
-        TEST(fabs(v(i) - dst5[i]) < eps);
-    }
+	// Matrix copyTo
+	Matrix<float, 2, 3> A;
+	A(0, 0) = 1;
+	A(0, 1) = 2;
+	A(0, 2) = 3;
+	A(1, 0) = 4;
+	A(1, 1) = 5;
+	A(1, 2) = 6;
+	float array_A[6] = {};
+	doTheCopy(A, array_A);
+	float array_row[6] = {1, 2, 3, 4, 5, 6};
 
-    float subarray_A[4] = {};
-    A.slice<2,2>(0,0).copyToColumnMajor(subarray_A);
-    float subarray_column[4] = {1,4,2,5};
-    for (size_t i = 0; i < 4; i++) {
-        TEST(fabs(subarray_A[i] - subarray_column[i]) < eps);
-    }
+	for (size_t i = 0; i < 6; i++) {
+		TEST(fabs(array_A[i] - array_row[i]) < eps);
+	}
 
-    return 0;
+	// Matrix copyToColumnMajor
+	A.copyToColumnMajor(array_A);
+	float array_column[6] = {1, 4, 2, 5, 3, 6};
+
+	for (size_t i = 0; i < 6; i++) {
+		TEST(fabs(array_A[i] - array_column[i]) < eps);
+	}
+
+	// Slice copyTo
+	float dst5[2] = {};
+	v.slice<2, 1>(0, 0).copyTo(dst5);
+
+	for (size_t i = 0; i < 2; i++) {
+		TEST(fabs(v(i) - dst5[i]) < eps);
+	}
+
+	float subarray_A[4] = {};
+	A.slice<2, 2>(0, 0).copyToColumnMajor(subarray_A);
+	float subarray_column[4] = {1, 4, 2, 5};
+
+	for (size_t i = 0; i < 4; i++) {
+		TEST(fabs(subarray_A[i] - subarray_column[i]) < eps);
+	}
+
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/dual.cpp

@@ -7,304 +7,305 @@ using namespace matrix;
 template <typename Scalar, size_t N>
 bool isEqualAll(Dual<Scalar, N> a, Dual<Scalar, N> b)
 {
-    return isEqualF(a.value, b.value) && a.derivative == b.derivative;
+	return isEqualF(a.value, b.value) && a.derivative == b.derivative;
 }
 
 template <typename T>
-T testFunction(const Vector<T, 3>& point) {
-    // function is f(x,y,z) = x^2 + 2xy + 3y^2 + z
-    return point(0)*point(0)
-           + 2.f * point(0) * point(1)
-           + 3.f * point(1) * point(1)
-           + point(2);
+T testFunction(const Vector<T, 3> &point)
+{
+	// function is f(x,y,z) = x^2 + 2xy + 3y^2 + z
+	return point(0) * point(0)
+	       + 2.f * point(0) * point(1)
+	       + 3.f * point(1) * point(1)
+	       + point(2);
 }
 
 template <typename Scalar>
-Vector<Scalar, 3> positionError(const Vector<Scalar, 3>& positionState,
-                                const Vector<Scalar, 3>& velocityStateBody,
-                                const Quaternion<Scalar>& bodyOrientation,
-                                const Vector<Scalar, 3>& positionMeasurement,
-                                Scalar dt
-                               )
+Vector<Scalar, 3> positionError(const Vector<Scalar, 3> &positionState,
+				const Vector<Scalar, 3> &velocityStateBody,
+				const Quaternion<Scalar> &bodyOrientation,
+				const Vector<Scalar, 3> &positionMeasurement,
+				Scalar dt
+			       )
 {
-    return positionMeasurement - (positionState +  bodyOrientation.conjugate(velocityStateBody) * dt);
+	return positionMeasurement - (positionState +  bodyOrientation.conjugate(velocityStateBody) * dt);
 }
 
 int main()
 {
-    const Dual<float, 1> a(3,0);
-    const Dual<float, 1> b(6,0);
+	const Dual<float, 1> a(3, 0);
+	const Dual<float, 1> b(6, 0);
 
-    {
-        TEST(isEqualF(a.value, 3.f));
-        TEST(isEqualF(a.derivative(0), 1.f));
-    }
+	{
+		TEST(isEqualF(a.value, 3.f));
+		TEST(isEqualF(a.derivative(0), 1.f));
+	}
 
-    {
-        // addition
-        Dual<float, 1> c = a + b;
-        TEST(isEqualF(c.value, 9.f));
-        TEST(isEqualF(c.derivative(0), 2.f));
+	{
+		// addition
+		Dual<float, 1> c = a + b;
+		TEST(isEqualF(c.value, 9.f));
+		TEST(isEqualF(c.derivative(0), 2.f));
 
-        Dual<float, 1> d = +a;
-        TEST(isEqualAll(d, a));
-        d += b;
-        TEST(isEqualAll(d, c));
+		Dual<float, 1> d = +a;
+		TEST(isEqualAll(d, a));
+		d += b;
+		TEST(isEqualAll(d, c));
 
-        Dual<float, 1> e = a;
-        e += b.value;
-        TEST(isEqualF(e.value, c.value));
-        TEST(isEqual(e.derivative, a.derivative));
+		Dual<float, 1> e = a;
+		e += b.value;
+		TEST(isEqualF(e.value, c.value));
+		TEST(isEqual(e.derivative, a.derivative));
 
-        Dual<float, 1> f = b.value + a;
-        TEST(isEqualAll(f, e));
-    }
+		Dual<float, 1> f = b.value + a;
+		TEST(isEqualAll(f, e));
+	}
 
-    {
-        // subtraction
-        Dual<float, 1> c = b - a;
-        TEST(isEqualF(c.value, 3.f));
-        TEST(isEqualF(c.derivative(0), 0.f));
+	{
+		// subtraction
+		Dual<float, 1> c = b - a;
+		TEST(isEqualF(c.value, 3.f));
+		TEST(isEqualF(c.derivative(0), 0.f));
 
-        Dual<float, 1> d = b;
-        TEST(isEqualAll(d, b));
-        d -= a;
-        TEST(isEqualAll(d, c));
+		Dual<float, 1> d = b;
+		TEST(isEqualAll(d, b));
+		d -= a;
+		TEST(isEqualAll(d, c));
 
-        Dual<float, 1> e = b;
-        e -= a.value;
-        TEST(isEqualF(e.value, c.value));
-        TEST(isEqual(e.derivative, b.derivative));
+		Dual<float, 1> e = b;
+		e -= a.value;
+		TEST(isEqualF(e.value, c.value));
+		TEST(isEqual(e.derivative, b.derivative));
 
-        Dual<float, 1> f = a.value - b;
-        TEST(isEqualAll(f, -e));
-    }
+		Dual<float, 1> f = a.value - b;
+		TEST(isEqualAll(f, -e));
+	}
 
-    {
-        // multiplication
-        Dual<float, 1> c = a*b;
-        TEST(isEqualF(c.value, 18.f));
-        TEST(isEqualF(c.derivative(0), 9.f));
+	{
+		// multiplication
+		Dual<float, 1> c = a * b;
+		TEST(isEqualF(c.value, 18.f));
+		TEST(isEqualF(c.derivative(0), 9.f));
 
-        Dual<float, 1> d = a;
-        TEST(isEqualAll(d, a));
-        d *= b;
-        TEST(isEqualAll(d, c));
+		Dual<float, 1> d = a;
+		TEST(isEqualAll(d, a));
+		d *= b;
+		TEST(isEqualAll(d, c));
 
-        Dual<float, 1> e = a;
-        e *= b.value;
-        TEST(isEqualF(e.value, c.value));
-        TEST(isEqual(e.derivative, a.derivative * b.value));
+		Dual<float, 1> e = a;
+		e *= b.value;
+		TEST(isEqualF(e.value, c.value));
+		TEST(isEqual(e.derivative, a.derivative * b.value));
 
-        Dual<float, 1> f = b.value * a;
-        TEST(isEqualAll(f, e));
-    }
+		Dual<float, 1> f = b.value * a;
+		TEST(isEqualAll(f, e));
+	}
 
-    {
-        // division
-        Dual<float, 1> c = b/a;
-        TEST(isEqualF(c.value, 2.f));
-        TEST(isEqualF(c.derivative(0), -1.f/3.f));
+	{
+		// division
+		Dual<float, 1> c = b / a;
+		TEST(isEqualF(c.value, 2.f));
+		TEST(isEqualF(c.derivative(0), -1.f / 3.f));
 
-        Dual<float, 1> d = b;
-        TEST(isEqualAll(d, b));
-        d /= a;
-        TEST(isEqualAll(d, c));
+		Dual<float, 1> d = b;
+		TEST(isEqualAll(d, b));
+		d /= a;
+		TEST(isEqualAll(d, c));
 
-        Dual<float, 1> e = b;
-        e /= a.value;
-        TEST(isEqualF(e.value, c.value));
-        TEST(isEqual(e.derivative, b.derivative / a.value));
+		Dual<float, 1> e = b;
+		e /= a.value;
+		TEST(isEqualF(e.value, c.value));
+		TEST(isEqual(e.derivative, b.derivative / a.value));
 
-        Dual<float, 1> f = a.value / b;
-        TEST(isEqualAll(f, 1.f/e));
-    }
+		Dual<float, 1> f = a.value / b;
+		TEST(isEqualAll(f, 1.f / e));
+	}
 
-    {
-        Dual<float, 1> blank;
-        TEST(isEqualF(blank.value, 0.f));
-        TEST(isEqualF(blank.derivative(0), 0.f));
-    }
+	{
+		Dual<float, 1> blank;
+		TEST(isEqualF(blank.value, 0.f));
+		TEST(isEqualF(blank.derivative(0), 0.f));
+	}
 
-    {
-        // sqrt
-        TEST(isEqualF(sqrt(a).value, sqrt(a.value)));
-        TEST(isEqualF(sqrt(a).derivative(0), 1.f/sqrt(12.f)));
-    }
+	{
+		// sqrt
+		TEST(isEqualF(sqrt(a).value, sqrt(a.value)));
+		TEST(isEqualF(sqrt(a).derivative(0), 1.f / sqrt(12.f)));
+	}
 
-    {
-        // abs
-        TEST(isEqualAll(a, abs(-a)));
-        TEST(!isEqualAll(-a, abs(a)));
-        TEST(isEqualAll(-a, -abs(a)));
-    }
+	{
+		// abs
+		TEST(isEqualAll(a, abs(-a)));
+		TEST(!isEqualAll(-a, abs(a)));
+		TEST(isEqualAll(-a, -abs(a)));
+	}
 
-    {
-        // ceil
-        Dual<float, 1> c(1.5,0);
-        TEST(isEqualF(ceil(c).value, ceil(c.value)));
-        TEST(isEqualF(ceil(c).derivative(0), 0.f));
-    }
+	{
+		// ceil
+		Dual<float, 1> c(1.5, 0);
+		TEST(isEqualF(ceil(c).value, ceil(c.value)));
+		TEST(isEqualF(ceil(c).derivative(0), 0.f));
+	}
 
-    {
-        // floor
-        Dual<float, 1> c(1.5,0);
-        TEST(isEqualF(floor(c).value, floor(c.value)));
-        TEST(isEqualF(floor(c).derivative(0), 0.f));
-    }
+	{
+		// floor
+		Dual<float, 1> c(1.5, 0);
+		TEST(isEqualF(floor(c).value, floor(c.value)));
+		TEST(isEqualF(floor(c).derivative(0), 0.f));
+	}
 
-    {
-        // fmod
-        TEST(isEqualF(fmod(a, 0.8f).value, fmod(a.value, 0.8f)));
-        TEST(isEqual(fmod(a, 0.8f).derivative, a.derivative));
-    }
+	{
+		// fmod
+		TEST(isEqualF(fmod(a, 0.8f).value, fmod(a.value, 0.8f)));
+		TEST(isEqual(fmod(a, 0.8f).derivative, a.derivative));
+	}
 
-    {
-        // max/min
-        TEST(isEqualAll(b, max(a, b)));
-        TEST(isEqualAll(a, min(a, b)));
-    }
+	{
+		// max/min
+		TEST(isEqualAll(b, max(a, b)));
+		TEST(isEqualAll(a, min(a, b)));
+	}
 
-    {
-        // isnan
-        TEST(!IsNan(a));
-        Dual<float, 1> c(sqrt(-1.f),0);
-        TEST(IsNan(c));
-    }
+	{
+		// isnan
+		TEST(!IsNan(a));
+		Dual<float, 1> c(sqrt(-1.f), 0);
+		TEST(IsNan(c));
+	}
 
-    {
-        // isfinite/isinf
-        TEST(IsFinite(a));
-        TEST(!IsInf(a));
-        Dual<float, 1> c(sqrt(-1.f),0);
-        TEST(!IsFinite(c));
-        TEST(!IsInf(c));
-        Dual<float, 1> d(INFINITY,0);
-        TEST(!IsFinite(d));
-        TEST(IsInf(d));
-    }
+	{
+		// isfinite/isinf
+		TEST(IsFinite(a));
+		TEST(!IsInf(a));
+		Dual<float, 1> c(sqrt(-1.f), 0);
+		TEST(!IsFinite(c));
+		TEST(!IsInf(c));
+		Dual<float, 1> d(INFINITY, 0);
+		TEST(!IsFinite(d));
+		TEST(IsInf(d));
+	}
 
-    {
-        // sin/cos/tan
-        TEST(isEqualF(sin(a).value, sin(a.value)));
-        TEST(isEqualF(sin(a).derivative(0), cos(a.value))); // sin'(x) = cos(x)
+	{
+		// sin/cos/tan
+		TEST(isEqualF(sin(a).value, sin(a.value)));
+		TEST(isEqualF(sin(a).derivative(0), cos(a.value))); // sin'(x) = cos(x)
 
-        TEST(isEqualF(cos(a).value, cos(a.value)));
-        TEST(isEqualF(cos(a).derivative(0), -sin(a.value))); // cos'(x) = -sin(x)
+		TEST(isEqualF(cos(a).value, cos(a.value)));
+		TEST(isEqualF(cos(a).derivative(0), -sin(a.value))); // cos'(x) = -sin(x)
 
-        TEST(isEqualF(tan(a).value, tan(a.value)));
-        TEST(isEqualF(tan(a).derivative(0), 1.f + tan(a.value)*tan(a.value))); // tan'(x) = 1 + tan^2(x)
-    }
+		TEST(isEqualF(tan(a).value, tan(a.value)));
+		TEST(isEqualF(tan(a).derivative(0), 1.f + tan(a.value)*tan(a.value))); // tan'(x) = 1 + tan^2(x)
+	}
 
-    {
-        // asin/acos/atan
-        Dual<float, 1> c(0.3f, 0);
-        TEST(isEqualF(asin(c).value, asin(c.value)));
-        TEST(isEqualF(asin(c).derivative(0), 1.f/sqrt(1.f - 0.3f*0.3f))); // asin'(x) = 1/sqrt(1-x^2)
+	{
+		// asin/acos/atan
+		Dual<float, 1> c(0.3f, 0);
+		TEST(isEqualF(asin(c).value, asin(c.value)));
+		TEST(isEqualF(asin(c).derivative(0), 1.f / sqrt(1.f - 0.3f * 0.3f))); // asin'(x) = 1/sqrt(1-x^2)
 
-        TEST(isEqualF(acos(c).value, acos(c.value)));
-        TEST(isEqualF(acos(c).derivative(0), -1.f/sqrt(1.f - 0.3f*0.3f))); // acos'(x) = -1/sqrt(1-x^2)
+		TEST(isEqualF(acos(c).value, acos(c.value)));
+		TEST(isEqualF(acos(c).derivative(0), -1.f / sqrt(1.f - 0.3f * 0.3f))); // acos'(x) = -1/sqrt(1-x^2)
 
-        TEST(isEqualF(atan(c).value, atan(c.value)));
-        TEST(isEqualF(atan(c).derivative(0), 1.f/(1.f + 0.3f*0.3f))); // tan'(x) = 1 + x^2
-    }
+		TEST(isEqualF(atan(c).value, atan(c.value)));
+		TEST(isEqualF(atan(c).derivative(0), 1.f / (1.f + 0.3f * 0.3f))); // tan'(x) = 1 + x^2
+	}
 
-    {
-        // atan2
-        TEST(isEqualF(atan2(a, b).value, atan2(a.value, b.value)));
-        TEST(isEqualAll(atan2(a, Dual<float,1>(b.value)), atan(a/b.value))); // atan2'(y, x) = atan'(y/x)
-    }
+	{
+		// atan2
+		TEST(isEqualF(atan2(a, b).value, atan2(a.value, b.value)));
+		TEST(isEqualAll(atan2(a, Dual<float, 1>(b.value)), atan(a / b.value))); // atan2'(y, x) = atan'(y/x)
+	}
 
-    {
-        // partial derivatives
-        // function is f(x,y,z) = x^2 + 2xy + 3y^2 + z, we need with respect to d/dx and d/dy at the point (0.5, -0.8, 2)
+	{
+		// partial derivatives
+		// function is f(x,y,z) = x^2 + 2xy + 3y^2 + z, we need with respect to d/dx and d/dy at the point (0.5, -0.8, 2)
 
-        using D = Dual<float, 2>;
+		using D = Dual<float, 2>;
 
-        // set our starting point, requesting partial derivatives of x and y in column 0 and 1
-        Vector3<D> dualPoint(D(0.5f, 0), D(-0.8f, 1), D(2.f));
+		// set our starting point, requesting partial derivatives of x and y in column 0 and 1
+		Vector3<D> dualPoint(D(0.5f, 0), D(-0.8f, 1), D(2.f));
 
-        Dual<float, 2> dualResult = testFunction(dualPoint);
+		Dual<float, 2> dualResult = testFunction(dualPoint);
 
-        // compare to a numerical derivative:
-        Vector<float, 3> floatPoint = collectReals(dualPoint);
-        float floatResult = testFunction(floatPoint);
+		// compare to a numerical derivative:
+		Vector<float, 3> floatPoint = collectReals(dualPoint);
+		float floatResult = testFunction(floatPoint);
 
-        float h = 0.0001f;
-        Vector<float, 3> floatPoint_plusDX = floatPoint;
-        floatPoint_plusDX(0) += h;
-        float floatResult_plusDX = testFunction(floatPoint_plusDX);
+		float h = 0.0001f;
+		Vector<float, 3> floatPoint_plusDX = floatPoint;
+		floatPoint_plusDX(0) += h;
+		float floatResult_plusDX = testFunction(floatPoint_plusDX);
 
-        Vector<float, 3> floatPoint_plusDY = floatPoint;
-        floatPoint_plusDY(1) += h;
-        float floatResult_plusDY = testFunction(floatPoint_plusDY);
+		Vector<float, 3> floatPoint_plusDY = floatPoint;
+		floatPoint_plusDY(1) += h;
+		float floatResult_plusDY = testFunction(floatPoint_plusDY);
 
-        Vector2f numerical_derivative((floatResult_plusDX - floatResult)/h,
-                                      (floatResult_plusDY - floatResult)/h);
+		Vector2f numerical_derivative((floatResult_plusDX - floatResult) / h,
+					      (floatResult_plusDY - floatResult) / h);
 
-        TEST(isEqualF(dualResult.value, floatResult, 0.0f));
-        TEST(isEqual(dualResult.derivative, numerical_derivative, 1e-2f));
+		TEST(isEqualF(dualResult.value, floatResult, 0.0f));
+		TEST(isEqual(dualResult.derivative, numerical_derivative, 1e-2f));
 
-    }
+	}
 
-    {
-        // jacobian
-        // get residual of x/y/z with partial derivatives of rotation
+	{
+		// jacobian
+		// get residual of x/y/z with partial derivatives of rotation
 
-        Vector3f direct_error;
-        Matrix<float, 3, 4> numerical_jacobian;
-        {
-            Vector3f positionState(5,6,7);
-            Vector3f velocityState(-1,0,1);
-            Quaternionf velocityOrientation(0.2f,-0.1f,0,1);
-            Vector3f positionMeasurement(4.5f, 6.2f, 7.9f);
-            float dt = 0.1f;
+		Vector3f direct_error;
+		Matrix<float, 3, 4> numerical_jacobian;
+		{
+			Vector3f positionState(5, 6, 7);
+			Vector3f velocityState(-1, 0, 1);
+			Quaternionf velocityOrientation(0.2f, -0.1f, 0, 1);
+			Vector3f positionMeasurement(4.5f, 6.2f, 7.9f);
+			float dt = 0.1f;
 
-            direct_error = positionError(positionState,
-                                         velocityState,
-                                         velocityOrientation,
-                                         positionMeasurement,
-                                         dt);
-            float h = 0.001f;
-            for (size_t i = 0; i < 4; i++)
-            {
-                Quaternion<float> h4 = velocityOrientation;
-                h4(i) += h;
-                numerical_jacobian.col(i) = (positionError(positionState,
-                                             velocityState,
-                                             h4,
-                                             positionMeasurement,
-                                             dt)
-                                             - direct_error)/h;
-            }
-        }
-        Vector3f auto_error;
-        Matrix<float, 3, 4> auto_jacobian;
-        {
-            using D4 = Dual<float, 4>;
-            using Vector3d4 = Vector3<D4>;
-            Vector3d4 positionState(D4(5), D4(6), D4(7));
-            Vector3d4 velocityState(D4(-1), D4(0), D4(1));
+			direct_error = positionError(positionState,
+						     velocityState,
+						     velocityOrientation,
+						     positionMeasurement,
+						     dt);
+			float h = 0.001f;
 
-            // request partial derivatives of velocity orientation
-            // by setting these variables' derivatives in corresponding columns [0...3]
-            Quaternion<D4> velocityOrientation(D4(0.2f, 0),D4(-0.1f, 1),D4(0, 2),D4(1, 3));
+			for (size_t i = 0; i < 4; i++) {
+				Quaternion<float> h4 = velocityOrientation;
+				h4(i) += h;
+				numerical_jacobian.col(i) = (positionError(positionState,
+							     velocityState,
+							     h4,
+							     positionMeasurement,
+							     dt)
+							     - direct_error) / h;
+			}
+		}
+		Vector3f auto_error;
+		Matrix<float, 3, 4> auto_jacobian;
+		{
+			using D4 = Dual<float, 4>;
+			using Vector3d4 = Vector3<D4>;
+			Vector3d4 positionState(D4(5), D4(6), D4(7));
+			Vector3d4 velocityState(D4(-1), D4(0), D4(1));
 
-            Vector3d4 positionMeasurement(D4(4.5f), D4(6.2f), D4(7.9f));
-            D4 dt(0.1f);
+			// request partial derivatives of velocity orientation
+			// by setting these variables' derivatives in corresponding columns [0...3]
+			Quaternion<D4> velocityOrientation(D4(0.2f, 0), D4(-0.1f, 1), D4(0, 2), D4(1, 3));
+
+			Vector3d4 positionMeasurement(D4(4.5f), D4(6.2f), D4(7.9f));
+			D4 dt(0.1f);
 
 
-            Vector3d4 error = positionError(positionState,
-                                            velocityState,
-                                            velocityOrientation,
-                                            positionMeasurement,
-                                            dt);
-            auto_error = collectReals(error);
-            auto_jacobian = collectDerivatives(error);
-        }
-        TEST(isEqual(direct_error, auto_error, 0.0f));
-        TEST(isEqual(numerical_jacobian, auto_jacobian, 1e-3f));
+			Vector3d4 error = positionError(positionState,
+							velocityState,
+							velocityOrientation,
+							positionMeasurement,
+							dt);
+			auto_error = collectReals(error);
+			auto_jacobian = collectDerivatives(error);
+		}
+		TEST(isEqual(direct_error, auto_error, 0.0f));
+		TEST(isEqual(numerical_jacobian, auto_jacobian, 1e-3f));
 
-    }
-    return 0;
+	}
+	return 0;
 }

src/lib/matrix/test/filter.cpp

@@ -5,25 +5,24 @@ using namespace matrix;
 
 int main()
 {
-    const size_t n_x = 6;
-    const size_t n_y = 5;
-    SquareMatrix<float, n_x> P = eye<float, n_x>();
-    SquareMatrix<float, n_y> R = eye<float, n_y>();
-    Matrix<float, n_y, n_x> C;
-    C.setIdentity();
-    float data[] = {1,2,3,4,5};
-    Vector<float, n_y> r(data);
+	const size_t n_x = 6;
+	const size_t n_y = 5;
+	SquareMatrix<float, n_x> P = eye<float, n_x>();
+	SquareMatrix<float, n_y> R = eye<float, n_y>();
+	Matrix<float, n_y, n_x> C;
+	C.setIdentity();
+	float data[] = {1, 2, 3, 4, 5};
+	Vector<float, n_y> r(data);
 
-    Vector<float, n_x> dx;
-    SquareMatrix<float, n_x> dP;
-    float beta = 0;
-    kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
+	Vector<float, n_x> dx;
+	SquareMatrix<float, n_x> dP;
+	float beta = 0;
+	kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
 
-    float data_check[] = {0.5,1,1.5,2,2.5,0};
-    Vector<float, n_x> dx_check(data_check);
-    TEST(isEqual(dx, dx_check));
+	float data_check[] = {0.5, 1, 1.5, 2, 2.5, 0};
+	Vector<float, n_x> dx_check(data_check);
+	TEST(isEqual(dx, dx_check));
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/hatvee.cpp

@@ -5,15 +5,14 @@ using namespace matrix;
 
 int main()
 {
-    Euler<float> euler(0.1f, 0.2f, 0.3f);
-    Dcm<float> R(euler);
-    Dcm<float> skew = R - R.T();
-    Vector3<float> w = skew.vee();
-    Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
+	Euler<float> euler(0.1f, 0.2f, 0.3f);
+	Dcm<float> R(euler);
+	Dcm<float> skew = R - R.T();
+	Vector3<float> w = skew.vee();
+	Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
 
-    TEST(isEqual(w, w_check));
-    TEST(isEqual(skew, w.hat()));
-    return 0;
+	TEST(isEqual(w, w_check));
+	TEST(isEqual(skew, w.hat()));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/helper.cpp

@@ -5,74 +5,73 @@ using namespace matrix;
 
 int main()
 {
-    // general wraps
-    TEST(fabs(wrap(4., 0., 10.) - 4.) < FLT_EPSILON);
-    TEST(fabs(wrap(4., 0., 1.)) < FLT_EPSILON);
-    TEST(fabs(wrap(-4., 0., 10.) - 6.) < FLT_EPSILON);
-    TEST(fabs(wrap(-18., 0., 10.) - 2.) < FLT_EPSILON);
-    TEST(fabs(wrap(-1.5, 3., 5.) - 4.5) < FLT_EPSILON);
-    TEST(fabs(wrap(15.5, 3., 5.) - 3.5) < FLT_EPSILON);
-    TEST(fabs(wrap(-1., 30., 40.) - 39.) < FLT_EPSILON);
-    TEST(fabs(wrap(-8000., -555., 1.) - (-216.)) < FLT_EPSILON);
-    TEST(fabs(wrap(0., 0., 360.)) < FLT_EPSILON);
-    TEST(fabs(wrap(0. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
-    TEST(fabs(wrap(0. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
-    TEST(fabs(wrap(360., 0., 360.)) < FLT_EPSILON);
-    TEST(fabs(wrap(360. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
-    TEST(fabs(wrap(360. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
+	// general wraps
+	TEST(fabs(wrap(4., 0., 10.) - 4.) < FLT_EPSILON);
+	TEST(fabs(wrap(4., 0., 1.)) < FLT_EPSILON);
+	TEST(fabs(wrap(-4., 0., 10.) - 6.) < FLT_EPSILON);
+	TEST(fabs(wrap(-18., 0., 10.) - 2.) < FLT_EPSILON);
+	TEST(fabs(wrap(-1.5, 3., 5.) - 4.5) < FLT_EPSILON);
+	TEST(fabs(wrap(15.5, 3., 5.) - 3.5) < FLT_EPSILON);
+	TEST(fabs(wrap(-1., 30., 40.) - 39.) < FLT_EPSILON);
+	TEST(fabs(wrap(-8000., -555., 1.) - (-216.)) < FLT_EPSILON);
+	TEST(fabs(wrap(0., 0., 360.)) < FLT_EPSILON);
+	TEST(fabs(wrap(0. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
+	TEST(fabs(wrap(0. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
+	TEST(fabs(wrap(360., 0., 360.)) < FLT_EPSILON);
+	TEST(fabs(wrap(360. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
+	TEST(fabs(wrap(360. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
 
-    // integer wraps
-    TEST(wrap(-10, 0, 10) == 0);
-    TEST(wrap(-4, 0, 10) == 6);
-    TEST(wrap(0, 0, 10) == 0)
-    TEST(wrap(4, 0, 10) == 4);
-    TEST(wrap(10, 0, 10) == 0);
+	// integer wraps
+	TEST(wrap(-10, 0, 10) == 0);
+	TEST(wrap(-4, 0, 10) == 6);
+	TEST(wrap(0, 0, 10) == 0)
+	TEST(wrap(4, 0, 10) == 4);
+	TEST(wrap(10, 0, 10) == 0);
 
-    // wrap pi
-    TEST(fabs(wrap_pi(0.)) < FLT_EPSILON);
-    TEST(fabs(wrap_pi(4.) - (4. - M_TWOPI)) < FLT_EPSILON);
-    TEST(fabs(wrap_pi(-4.) - (-4. + M_TWOPI)) < FLT_EPSILON);
-    TEST(fabs(wrap_pi(3.) - (3.)) < FLT_EPSILON);
-    TEST(fabs(wrap_pi(100.) - (100. - 32. * M_PI)) < FLT_EPSILON);
-    TEST(fabs(wrap_pi(-100.) - (-100. + 32. * M_PI)) < FLT_EPSILON);
-    TEST(fabs(wrap_pi(-101.) - (-101. + 32. * M_PI)) < FLT_EPSILON);
-    TEST(!is_finite(wrap_pi(NAN)));
+	// wrap pi
+	TEST(fabs(wrap_pi(0.)) < FLT_EPSILON);
+	TEST(fabs(wrap_pi(4.) - (4. - M_TWOPI)) < FLT_EPSILON);
+	TEST(fabs(wrap_pi(-4.) - (-4. + M_TWOPI)) < FLT_EPSILON);
+	TEST(fabs(wrap_pi(3.) - (3.)) < FLT_EPSILON);
+	TEST(fabs(wrap_pi(100.) - (100. - 32. * M_PI)) < FLT_EPSILON);
+	TEST(fabs(wrap_pi(-100.) - (-100. + 32. * M_PI)) < FLT_EPSILON);
+	TEST(fabs(wrap_pi(-101.) - (-101. + 32. * M_PI)) < FLT_EPSILON);
+	TEST(!is_finite(wrap_pi(NAN)));
 
-    // wrap 2pi
-    TEST(fabs(wrap_2pi(0.)) < FLT_EPSILON);
-    TEST(fabs(wrap_2pi(-4.) - (-4. + 2. * M_PI)) < FLT_EPSILON);
-    TEST(fabs(wrap_2pi(3.) - (3.)) < FLT_EPSILON);
-    TEST(fabs(wrap_2pi(200.) - (200. - 31. * M_TWOPI)) < FLT_EPSILON);
-    TEST(fabs(wrap_2pi(-201.) - (-201. + 32. * M_TWOPI)) < FLT_EPSILON);
-    TEST(!is_finite(wrap_2pi(NAN)));
+	// wrap 2pi
+	TEST(fabs(wrap_2pi(0.)) < FLT_EPSILON);
+	TEST(fabs(wrap_2pi(-4.) - (-4. + 2. * M_PI)) < FLT_EPSILON);
+	TEST(fabs(wrap_2pi(3.) - (3.)) < FLT_EPSILON);
+	TEST(fabs(wrap_2pi(200.) - (200. - 31. * M_TWOPI)) < FLT_EPSILON);
+	TEST(fabs(wrap_2pi(-201.) - (-201. + 32. * M_TWOPI)) < FLT_EPSILON);
+	TEST(!is_finite(wrap_2pi(NAN)));
 
-    // Equality checks
-    TEST(isEqualF(1., 1.));
-    TEST(!isEqualF(1., 2.));
-    TEST(!isEqualF(NAN, 1.f));
-    TEST(!isEqualF(1.f, NAN));
-    TEST(!isEqualF(INFINITY, 1.f));
-    TEST(!isEqualF(1.f, INFINITY));
-    TEST(isEqualF(NAN, NAN));
-    TEST(isEqualF(NAN, -NAN));
-    TEST(isEqualF(-NAN, NAN));
-    TEST(isEqualF(INFINITY, INFINITY));
-    TEST(!isEqualF(INFINITY, -INFINITY));
-    TEST(!isEqualF(-INFINITY, INFINITY));
-    TEST(isEqualF(-INFINITY, -INFINITY));
+	// Equality checks
+	TEST(isEqualF(1., 1.));
+	TEST(!isEqualF(1., 2.));
+	TEST(!isEqualF(NAN, 1.f));
+	TEST(!isEqualF(1.f, NAN));
+	TEST(!isEqualF(INFINITY, 1.f));
+	TEST(!isEqualF(1.f, INFINITY));
+	TEST(isEqualF(NAN, NAN));
+	TEST(isEqualF(NAN, -NAN));
+	TEST(isEqualF(-NAN, NAN));
+	TEST(isEqualF(INFINITY, INFINITY));
+	TEST(!isEqualF(INFINITY, -INFINITY));
+	TEST(!isEqualF(-INFINITY, INFINITY));
+	TEST(isEqualF(-INFINITY, -INFINITY));
 
-    Vector3f a(1, 2, 3);
-    Vector3f b(4, 5, 6);
-    TEST(!isEqual(a, b));
-    TEST(isEqual(a, a));
+	Vector3f a(1, 2, 3);
+	Vector3f b(4, 5, 6);
+	TEST(!isEqual(a, b));
+	TEST(isEqual(a, a));
 
-    Vector3f c(1, 2, 3);
-    Vector3f d(1, 2, NAN);
-    TEST(!isEqual(c, d));
-    TEST(isEqual(c, c));
-    TEST(isEqual(d, d));
+	Vector3f c(1, 2, 3);
+	Vector3f d(1, 2, NAN);
+	TEST(!isEqual(c, d));
+	TEST(isEqual(c, c));
+	TEST(isEqual(d, d));
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/integration.cpp

@@ -5,22 +5,22 @@ using namespace matrix;
 
 Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/);
 
-Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/) {
-    float v = -sin(t);
-    return v*ones<float, 6, 1>();
+Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/)
+{
+	float v = -sin(t);
+	return v * ones<float, 6, 1>();
 }
 
 int main()
 {
-    Vector<float, 6> y = ones<float, 6, 1>();
-    Vector<float, 3> u = ones<float, 3, 1>();
-    float t0 = 0;
-    float tf = 2;
-    float h = 0.001f;
-    integrate_rk4(f, y, u, t0, tf, h, y);
-    float v = 1 + cos(tf) - cos(t0);
-    TEST(isEqual(y, (ones<float, 6, 1>()*v)));
-    return 0;
+	Vector<float, 6> y = ones<float, 6, 1>();
+	Vector<float, 3> u = ones<float, 3, 1>();
+	float t0 = 0;
+	float tf = 2;
+	float h = 0.001f;
+	integrate_rk4(f, y, u, t0, tf, h, y);
+	float v = 1 + cos(tf) - cos(t0);
+	TEST(isEqual(y, (ones<float, 6, 1>()*v)));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/inverse.cpp

@@ -7,158 +7,158 @@ static const size_t n_large = 50;
 
 int main()
 {
-    float data[9] = {0, 2, 3,
-                     4, 5, 6,
-                     7, 8, 10
-                    };
-    float data_check[9] = {
-        -0.4f, -0.8f,  0.6f,
-        -0.4f,  4.2f, -2.4f,
-        0.6f, -2.8f,  1.6f
-    };
+	float data[9] = {0, 2, 3,
+			 4, 5, 6,
+			 7, 8, 10
+			};
+	float data_check[9] = {
+		-0.4f, -0.8f,  0.6f,
+			-0.4f,  4.2f, -2.4f,
+			0.6f, -2.8f,  1.6f
+		};
 
-    SquareMatrix<float, 3> A(data);
-    SquareMatrix<float, 3> A_I = inv(A);
-    SquareMatrix<float, 3> A_I_check(data_check);
-    TEST((A_I - A_I_check).abs().max() < 1e-6f);
+	SquareMatrix<float, 3> A(data);
+	SquareMatrix<float, 3> A_I = inv(A);
+	SquareMatrix<float, 3> A_I_check(data_check);
+	TEST((A_I - A_I_check).abs().max() < 1e-6f);
 
-    float data_2x2[4] = {12, 2,
-                         -7, 5
-                        };
-    float data_2x2_check[4] = {
-        0.0675675675f, -0.02702702f,
-        0.0945945945f, 0.162162162f
-    };
+	float data_2x2[4] = {12, 2,
+			     -7, 5
+			    };
+	float data_2x2_check[4] = {
+		0.0675675675f, -0.02702702f,
+		0.0945945945f, 0.162162162f
+	};
 
-    SquareMatrix<float, 2> A2x2(data_2x2);
-    SquareMatrix<float, 2> A2x2_I = inv(A2x2);
-    SquareMatrix<float, 2> A2x2_I_check(data_2x2_check);
-    TEST(isEqual(A2x2_I, A2x2_I_check));
+	SquareMatrix<float, 2> A2x2(data_2x2);
+	SquareMatrix<float, 2> A2x2_I = inv(A2x2);
+	SquareMatrix<float, 2> A2x2_I_check(data_2x2_check);
+	TEST(isEqual(A2x2_I, A2x2_I_check));
 
-    SquareMatrix<float, 2> A2x2_sing = ones<float, 2, 2>();
-    SquareMatrix<float, 2> A2x2_sing_I;
-    TEST(inv(A2x2_sing, A2x2_sing_I) == false);
+	SquareMatrix<float, 2> A2x2_sing = ones<float, 2, 2>();
+	SquareMatrix<float, 2> A2x2_sing_I;
+	TEST(inv(A2x2_sing, A2x2_sing_I) == false);
 
-    SquareMatrix<float, 3> A3x3_sing = ones<float, 3, 3>();
-    SquareMatrix<float, 3> A3x3_sing_I;
-    TEST(inv(A3x3_sing, A3x3_sing_I) == false)
+	SquareMatrix<float, 3> A3x3_sing = ones<float, 3, 3>();
+	SquareMatrix<float, 3> A3x3_sing_I;
+	TEST(inv(A3x3_sing, A3x3_sing_I) == false)
 
-    // stess test
-    SquareMatrix<float, n_large> A_large;
-    A_large.setIdentity();
-    SquareMatrix<float, n_large> A_large_I;
-    A_large_I.setZero();
+	// stess test
+	SquareMatrix<float, n_large> A_large;
+	A_large.setIdentity();
+	SquareMatrix<float, n_large> A_large_I;
+	A_large_I.setZero();
 
-    for (size_t i = 0; i < n_large; i++) {
-        A_large_I = inv(A_large);
-        TEST(isEqual(A_large, A_large_I));
-    }
+	for (size_t i = 0; i < n_large; i++) {
+		A_large_I = inv(A_large);
+		TEST(isEqual(A_large, A_large_I));
+	}
 
-    SquareMatrix<float, 3> zero_test = zeros<float, 3, 3>();
-    TEST(isEqual(inv(zero_test), zeros<float, 3, 3>()));
+	SquareMatrix<float, 3> zero_test = zeros<float, 3, 3>();
+	TEST(isEqual(inv(zero_test), zeros<float, 3, 3>()));
 
-    // test pivotting
-    float data2[81] = {
-        -2,   1,   1,  -1,  -5,   1,   2,  -1,   0,
-        -3,   2,  -1,   0,   2,   2,  -1,  -5,   3,
-        0,   0,   0,   1,   4,  -3,   3,   0,  -2,
-        2,   2,  -1,  -2,  -1,   0,   3,   0,   1,
-        -1,   2,  -1,  -1,  -3,   3,   0,  -2,   3,
-        0,   1,   1,  -3,   3,  -2,   0,  -4,   0,
-        1,   0,   0,   0,   0,   0,  -2,   4,  -3,
-        1,  -1,   0,  -1,  -1,   1,  -1,  -3,   4,
-        0,   3,  -1,  -2,   2,   1,  -2,   0,  -1
-    };
+	// test pivotting
+	float data2[81] = {
+		-2,   1,   1,  -1,  -5,   1,   2,  -1,   0,
+			-3,   2,  -1,   0,   2,   2,  -1,  -5,   3,
+			0,   0,   0,   1,   4,  -3,   3,   0,  -2,
+			2,   2,  -1,  -2,  -1,   0,   3,   0,   1,
+			-1,   2,  -1,  -1,  -3,   3,   0,  -2,   3,
+			0,   1,   1,  -3,   3,  -2,   0,  -4,   0,
+			1,   0,   0,   0,   0,   0,  -2,   4,  -3,
+			1,  -1,   0,  -1,  -1,   1,  -1,  -3,   4,
+			0,   3,  -1,  -2,   2,   1,  -2,   0,  -1
+		};
 
-    float data2_check[81] = {
-        6, -4,   3, -3, -9, -8, -10,   8,  14,
-        -2, -7,  -5, -3, -2, -2, -16,  -5,   8,
-        -2,  0, -23,  7, -24, -5, -28, -14,   9,
-        3, -7,   2, -5,  -4, -6, -13,   4,  13,
-        -1,  4,  -8,  5,  -8,  0,  -3,  -5,  -2,
-        6,  7,  -7,  7, -21, -7,  -5,   3,   6,
-        1,  4,  -4,  4,  -7, -1,   0,  -1,  -1,
-        -7,  3, -11,  5,   1,  6,  -1, -13, -10,
-        -8,  0, -11,  3,   3,  6,  -5, -14,  -8
-    };
-    SquareMatrix<float, 9> A2(data2);
-    SquareMatrix<float, 9> A2_I = inv(A2);
-    SquareMatrix<float, 9> A2_I_check(data2_check);
-    TEST((A2_I - A2_I_check).abs().max() < 1e-3f);
+	float data2_check[81] = {
+		6, -4,   3, -3, -9, -8, -10,   8,  14,
+		-2, -7,  -5, -3, -2, -2, -16,  -5,   8,
+		-2,  0, -23,  7, -24, -5, -28, -14,   9,
+		3, -7,   2, -5,  -4, -6, -13,   4,  13,
+		-1,  4,  -8,  5,  -8,  0,  -3,  -5,  -2,
+		6,  7,  -7,  7, -21, -7,  -5,   3,   6,
+		1,  4,  -4,  4,  -7, -1,   0,  -1,  -1,
+		-7,  3, -11,  5,   1,  6,  -1, -13, -10,
+		-8,  0, -11,  3,   3,  6,  -5, -14,  -8
+	};
+	SquareMatrix<float, 9> A2(data2);
+	SquareMatrix<float, 9> A2_I = inv(A2);
+	SquareMatrix<float, 9> A2_I_check(data2_check);
+	TEST((A2_I - A2_I_check).abs().max() < 1e-3f);
 
-    float data3[9] = {
-        0, 1, 2,
-        3, 4, 5,
-        6, 7, 9
-    };
-    float data3_check[9] = {
-        -0.3333333f, -1.6666666f, 1,
-        -1, 4, -2,
-        1, -2, 1
-    };
-    SquareMatrix<float, 3> A3(data3);
-    SquareMatrix<float, 3> A3_I = inv(A3);
-    SquareMatrix<float, 3> A3_I_check(data3_check);
-    TEST(isEqual(inv(A3), A3_I_check));
-    TEST(isEqual(A3_I, A3_I_check));
-    TEST(A3.I(A3_I));
-    TEST(isEqual(A3_I, A3_I_check));
+	float data3[9] = {
+		0, 1, 2,
+		3, 4, 5,
+		6, 7, 9
+	};
+	float data3_check[9] = {
+		-0.3333333f, -1.6666666f, 1,
+			-1, 4, -2,
+			1, -2, 1
+		};
+	SquareMatrix<float, 3> A3(data3);
+	SquareMatrix<float, 3> A3_I = inv(A3);
+	SquareMatrix<float, 3> A3_I_check(data3_check);
+	TEST(isEqual(inv(A3), A3_I_check));
+	TEST(isEqual(A3_I, A3_I_check));
+	TEST(A3.I(A3_I));
+	TEST(isEqual(A3_I, A3_I_check));
 
-    // cover singular matrices
-    A3(0, 0) = 0;
-    A3(0, 1) = 0;
-    A3(0, 2) = 0;
-    A3_I = inv(A3);
-    SquareMatrix<float, 3>  Z3 = zeros<float, 3, 3>();
-    TEST(!A3.I(A3_I));
-    TEST(!Z3.I(A3_I));
-    TEST(isEqual(A3_I, Z3));
-    TEST(isEqual(A3.I(), Z3));
+	// cover singular matrices
+	A3(0, 0) = 0;
+	A3(0, 1) = 0;
+	A3(0, 2) = 0;
+	A3_I = inv(A3);
+	SquareMatrix<float, 3>  Z3 = zeros<float, 3, 3>();
+	TEST(!A3.I(A3_I));
+	TEST(!Z3.I(A3_I));
+	TEST(isEqual(A3_I, Z3));
+	TEST(isEqual(A3.I(), Z3));
 
-    for(size_t i = 0; i < 9; i++) {
-        A2(0, i) = 0;
-    }
-    A2_I = inv(A2);
-    SquareMatrix<float, 9> Z9 = zeros<float, 9, 9>();
-    TEST(!A2.I(A2_I));
-    TEST(!Z9.I(A2_I));
-    TEST(isEqual(A2_I, Z9));
-    TEST(isEqual(A2.I(), Z9));
+	for (size_t i = 0; i < 9; i++) {
+		A2(0, i) = 0;
+	}
 
-    // cover NaN
-    A3(0, 0) = NAN;
-    A3(0, 1) = 0;
-    A3(0, 2) = 0;
-    A3_I = inv(A3);
-    TEST(isEqual(A3_I, Z3));
-    TEST(isEqual(A3.I(), Z3));
+	A2_I = inv(A2);
+	SquareMatrix<float, 9> Z9 = zeros<float, 9, 9>();
+	TEST(!A2.I(A2_I));
+	TEST(!Z9.I(A2_I));
+	TEST(isEqual(A2_I, Z9));
+	TEST(isEqual(A2.I(), Z9));
 
-    A2(0, 0) = NAN;
-    A2_I = inv(A2);
-    TEST(isEqual(A2_I, Z9));
-    TEST(isEqual(A2.I(), Z9));
+	// cover NaN
+	A3(0, 0) = NAN;
+	A3(0, 1) = 0;
+	A3(0, 2) = 0;
+	A3_I = inv(A3);
+	TEST(isEqual(A3_I, Z3));
+	TEST(isEqual(A3.I(), Z3));
 
-    float data4[9] = {
-        1.33471626f,  0.74946721f, -0.0531679f,
-        0.74946721f,  1.07519593f,  0.08036323f,
-        -0.0531679f,  0.08036323f,  1.01618474f
-    };
-    SquareMatrix<float, 3> A4(data4);
+	A2(0, 0) = NAN;
+	A2_I = inv(A2);
+	TEST(isEqual(A2_I, Z9));
+	TEST(isEqual(A2.I(), Z9));
 
-    float data4_cholesky[9] = {
-        1.15529921f,  0.f,  0.f,
-        0.6487213f,  0.80892311f,  0.f,
-        -0.04602089f,  0.13625271f,  0.99774847f
-    };
-    SquareMatrix<float, 3> A4_cholesky_check(data4_cholesky);
-    SquareMatrix<float, 3> A4_cholesky = cholesky(A4);
-    TEST(isEqual(A4_cholesky_check, A4_cholesky));
+	float data4[9] = {
+		1.33471626f,  0.74946721f, -0.0531679f,
+		0.74946721f,  1.07519593f,  0.08036323f,
+		-0.0531679f,  0.08036323f,  1.01618474f
+	};
+	SquareMatrix<float, 3> A4(data4);
 
-    SquareMatrix<float, 3> I3;
-    I3.setIdentity();
-    TEST(isEqual(choleskyInv(A4)*A4, I3));
-    TEST(isEqual(cholesky(Z3), Z3));
-    return 0;
+	float data4_cholesky[9] = {
+		1.15529921f,  0.f,  0.f,
+		0.6487213f,  0.80892311f,  0.f,
+		-0.04602089f,  0.13625271f,  0.99774847f
+	};
+	SquareMatrix<float, 3> A4_cholesky_check(data4_cholesky);
+	SquareMatrix<float, 3> A4_cholesky = cholesky(A4);
+	TEST(isEqual(A4_cholesky_check, A4_cholesky));
+
+	SquareMatrix<float, 3> I3;
+	I3.setIdentity();
+	TEST(isEqual(choleskyInv(A4)*A4, I3));
+	TEST(isEqual(cholesky(Z3), Z3));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/least_squares.cpp

@@ -10,91 +10,97 @@ int test_div_zero(void);
 
 int main()
 {
-    int ret;
+	int ret;
 
-    ret = test_4x4<float>();
-    if (ret != 0) return ret;
+	ret = test_4x4<float>();
 
-    ret = test_4x4<double>();
-    if (ret != 0) return ret;
+	if (ret != 0) { return ret; }
 
-    ret = test_4x3();
-    if (ret != 0) return ret;
+	ret = test_4x4<double>();
 
-    ret = test_div_zero();
-    if (ret != 0) return ret;
+	if (ret != 0) { return ret; }
 
-    return 0;
+	ret = test_4x3();
+
+	if (ret != 0) { return ret; }
+
+	ret = test_div_zero();
+
+	if (ret != 0) { return ret; }
+
+	return 0;
 }
 
-int test_4x3() {
-    // Start with an (m x n) A matrix
-    float data[12] = {20.f, -10.f, -13.f,
-                      17.f,  16.f, -18.f,
-                      0.7f,  -0.8f,   0.9f,
-                      -1.f,  -1.1f,  -1.2f
-                     };
-    Matrix<float, 4, 3> A(data);
+int test_4x3()
+{
+	// Start with an (m x n) A matrix
+	float data[12] = {20.f, -10.f, -13.f,
+			  17.f,  16.f, -18.f,
+			  0.7f,  -0.8f,   0.9f,
+			  -1.f,  -1.1f,  -1.2f
+			 };
+	Matrix<float, 4, 3> A(data);
 
-    float b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
-    Vector<float, 4> b(b_data);
+	float b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
+	Vector<float, 4> b(b_data);
 
-    float x_check_data[3] = {-0.69168233f,
-                             -0.26227593f,
-                             -1.03767522f
-                            };
-    Vector<float, 3> x_check(x_check_data);
+	float x_check_data[3] = {-0.69168233f,
+				 -0.26227593f,
+				 -1.03767522f
+				};
+	Vector<float, 3> x_check(x_check_data);
 
-    LeastSquaresSolver<float, 4, 3> qrd = LeastSquaresSolver<float, 4, 3>(A);
+	LeastSquaresSolver<float, 4, 3> qrd = LeastSquaresSolver<float, 4, 3>(A);
 
-    Vector<float, 3> x = qrd.solve(b);
-    TEST(isEqual(x, x_check));
-    return 0;
+	Vector<float, 3> x = qrd.solve(b);
+	TEST(isEqual(x, x_check));
+	return 0;
 }
 
 template<typename Type>
-int test_4x4() {
-    // Start with an (m x n) A matrix
-    const Type data[16] = { 20.f, -10.f, -13.f,  21.f,
-                            17.f,  16.f, -18.f, -14.f,
-                            0.7f,  -0.8f,   0.9f,  -0.5f,
-                            -1.f,  -1.1f,  -1.2f,  -1.3f
-                          };
-    Matrix<Type, 4, 4> A(data);
+int test_4x4()
+{
+	// Start with an (m x n) A matrix
+	const Type data[16] = { 20.f, -10.f, -13.f,  21.f,
+				17.f,  16.f, -18.f, -14.f,
+				0.7f,  -0.8f,   0.9f,  -0.5f,
+				-1.f,  -1.1f,  -1.2f,  -1.3f
+			      };
+	Matrix<Type, 4, 4> A(data);
 
-    Type b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
-    Vector<Type, 4> b(b_data);
+	Type b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
+	Vector<Type, 4> b(b_data);
 
-    Type x_check_data[4] = { 0.97893433f,
-                             -2.80798701f,
-                             -0.03175765f,
-                             -2.19387649f
-                           };
-    Vector<Type, 4> x_check(x_check_data);
+	Type x_check_data[4] = { 0.97893433f,
+				 -2.80798701f,
+				 -0.03175765f,
+				 -2.19387649f
+			       };
+	Vector<Type, 4> x_check(x_check_data);
 
-    LeastSquaresSolver<Type, 4, 4> qrd = LeastSquaresSolver<Type, 4, 4>(A);
+	LeastSquaresSolver<Type, 4, 4> qrd = LeastSquaresSolver<Type, 4, 4>(A);
 
-    Vector<Type, 4> x = qrd.solve(b);
-    TEST(isEqual(x, x_check));
-    return 0;
+	Vector<Type, 4> x = qrd.solve(b);
+	TEST(isEqual(x, x_check));
+	return 0;
 }
 
-int test_div_zero() {
-    float data[4] = {0.0f, 0.0f, 0.0f, 0.0f};
-    Matrix<float, 2, 2> A(data);
+int test_div_zero()
+{
+	float data[4] = {0.0f, 0.0f, 0.0f, 0.0f};
+	Matrix<float, 2, 2> A(data);
 
-    float b_data[2] = {1.0f, 1.0f};
-    Vector<float, 2> b(b_data);
+	float b_data[2] = {1.0f, 1.0f};
+	Vector<float, 2> b(b_data);
 
-    // Implement such that x returns zeros if it reaches div by zero
-    float x_check_data[2] = {0.0f, 0.0f};
-    Vector<float, 2> x_check(x_check_data);
+	// Implement such that x returns zeros if it reaches div by zero
+	float x_check_data[2] = {0.0f, 0.0f};
+	Vector<float, 2> x_check(x_check_data);
 
-    LeastSquaresSolver<float, 2, 2> qrd = LeastSquaresSolver<float, 2, 2>(A);
+	LeastSquaresSolver<float, 2, 2> qrd = LeastSquaresSolver<float, 2, 2>(A);
 
-    Vector<float, 2> x = qrd.solve(b);
-    TEST(isEqual(x, x_check));
-    return 0;
+	Vector<float, 2> x = qrd.solve(b);
+	TEST(isEqual(x, x_check));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/matrixAssignment.cpp

@@ -7,254 +7,264 @@ template class matrix::Matrix<float, 3, 2>;
 
 int main()
 {
-    Matrix3f m;
-    m.setZero();
-    m.zero();
-    m(0, 0) = 1;
-    m(0, 1) = 2;
-    m(0, 2) = 3;
-    m(1, 0) = 4;
-    m(1, 1) = 5;
-    m(1, 2) = 6;
-    m(2, 0) = 7;
-    m(2, 1) = 8;
-    m(2, 2) = 9;
+	Matrix3f m;
+	m.setZero();
+	m.zero();
+	m(0, 0) = 1;
+	m(0, 1) = 2;
+	m(0, 2) = 3;
+	m(1, 0) = 4;
+	m(1, 1) = 5;
+	m(1, 2) = 6;
+	m(2, 0) = 7;
+	m(2, 1) = 8;
+	m(2, 2) = 9;
 
-    float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
-    Matrix3f m2(data);
+	float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
+	Matrix3f m2(data);
 
-    for(size_t i=0; i<3; i++) {
-        for (size_t j = 0; j < 3; j++) {
-            TEST(fabs(data[i*3 + j] - m2(i,j)) < FLT_EPSILON);
-        }
-    }
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			TEST(fabs(data[i * 3 + j] - m2(i, j)) < FLT_EPSILON);
+		}
+	}
 
-    Matrix3f m_nan;
-    m_nan.setNaN();
-    for(size_t i=0; i<3; i++) {
-        for (size_t j = 0; j < 3; j++) {
-            TEST(isnan(m_nan(i,j)));
-        }
-    }
-    TEST(m_nan.isAllNan());
+	Matrix3f m_nan;
+	m_nan.setNaN();
 
-    float data2d[3][3] = {
-        {1, 2, 3},
-        {4, 5, 6},
-        {7, 8, 9}
-    };
-    m2 = Matrix3f(data2d);
-    for(size_t i=0; i<3; i++) {
-        for (size_t j = 0; j < 3; j++) {
-            TEST(fabs(data[i*3 + j] - m2(i,j)) < FLT_EPSILON);
-        }
-    }
-    TEST(!m2.isAllNan());
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			TEST(isnan(m_nan(i, j)));
+		}
+	}
 
-    float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
-    Matrix3f m3(data_times_2);
+	TEST(m_nan.isAllNan());
 
-    TEST(isEqual(m, m2));
-    TEST(!(isEqual(m, m3)));
+	float data2d[3][3] = {
+		{1, 2, 3},
+		{4, 5, 6},
+		{7, 8, 9}
+	};
+	m2 = Matrix3f(data2d);
 
-    m2 *= 2;
-    TEST(isEqual(m2, m3));
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			TEST(fabs(data[i * 3 + j] - m2(i, j)) < FLT_EPSILON);
+		}
+	}
 
-    m2 /= 2;
-    m2 -= 1;
-    float data_minus_1[9] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
-    TEST(isEqual(Matrix3f(data_minus_1), m2));
+	TEST(!m2.isAllNan());
 
-    m2 += 1;
-    TEST(isEqual(Matrix3f(data), m2));
+	float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
+	Matrix3f m3(data_times_2);
 
-    m3 -= m2;
+	TEST(isEqual(m, m2));
+	TEST(!(isEqual(m, m3)));
 
-    TEST(isEqual(m3, m2));
+	m2 *= 2;
+	TEST(isEqual(m2, m3));
 
-    // set rows and columns to value
-    Matrix3f m2e(data2d);
+	m2 /= 2;
+	m2 -= 1;
+	float data_minus_1[9] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
+	TEST(isEqual(Matrix3f(data_minus_1), m2));
 
-    float data2e_check1[3][3] = {
-        {1, 11, 3},
-        {4, 11, 6},
-        {7, 11, 9}
-    };
-    Matrix3f m2e_check1(data2e_check1);
+	m2 += 1;
+	TEST(isEqual(Matrix3f(data), m2));
 
-    float data2e_check2[3][3] = {
-        {1, 11, 3},
-        {4, 11, 6},
-        {0, 0, 0}
-    };
-    Matrix3f m2e_check2(data2e_check2);
+	m3 -= m2;
 
-    m2e.setCol(1, 11);
-    TEST(isEqual(m2e, m2e_check1));
-    m2e.setRow(2, 0);
-    TEST(isEqual(m2e, m2e_check2));
+	TEST(isEqual(m3, m2));
 
-    float data_row_02_swap[9] = {
-        7, 8, 9,
-        4, 5, 6,
-        1, 2, 3,
-    };
+	// set rows and columns to value
+	Matrix3f m2e(data2d);
 
-    float data_col_02_swap[9] = {
-        3, 2, 1,
-        6, 5, 4,
-        9, 8, 7
-    };
+	float data2e_check1[3][3] = {
+		{1, 11, 3},
+		{4, 11, 6},
+		{7, 11, 9}
+	};
+	Matrix3f m2e_check1(data2e_check1);
 
-    Matrix3f m4(data);
+	float data2e_check2[3][3] = {
+		{1, 11, 3},
+		{4, 11, 6},
+		{0, 0, 0}
+	};
+	Matrix3f m2e_check2(data2e_check2);
 
-    TEST(isEqual(-m4, m4*(-1)));
+	m2e.setCol(1, 11);
+	TEST(isEqual(m2e, m2e_check1));
+	m2e.setRow(2, 0);
+	TEST(isEqual(m2e, m2e_check2));
 
-    // col swap
-    m4.swapCols(0, 2);
-    TEST(isEqual(m4, Matrix3f(data_col_02_swap)));
-    m4.swapCols(0, 2);
+	float data_row_02_swap[9] = {
+		7, 8, 9,
+		4, 5, 6,
+		1, 2, 3,
+	};
 
-    // row swap
-    m4.swapRows(0, 2);
-    TEST(isEqual(m4, Matrix3f(data_row_02_swap)));
-    m4.swapRows(0, 2);
+	float data_col_02_swap[9] = {
+		3, 2, 1,
+		6, 5, 4,
+		9, 8, 7
+	};
 
-    // swapping with same row should do nothing
-    m4.swapRows(0, 0);
-    m4.swapRows(1, 1);
-    m4.swapRows(2, 2);
-    TEST(isEqual(m4, Matrix3f(data)));
+	Matrix3f m4(data);
 
-    // swapping with same col should do nothing
-    m4.swapCols(0, 0);
-    m4.swapCols(1, 1);
-    m4.swapCols(2, 2);
-    TEST(isEqual(m4, Matrix3f(data)));
+	TEST(isEqual(-m4, m4 * (-1)));
 
-    TEST(fabs(m4.min() - 1) < FLT_EPSILON);
-    TEST(fabs((-m4).min() + 9) < FLT_EPSILON);
+	// col swap
+	m4.swapCols(0, 2);
+	TEST(isEqual(m4, Matrix3f(data_col_02_swap)));
+	m4.swapCols(0, 2);
 
-    Scalar<float> s = 1;
-    const Vector<float, 1> & s_vect = s;
-    TEST(fabs(s - 1) < FLT_EPSILON);
-    TEST(fabs(s_vect(0) - 1.0f) < FLT_EPSILON);
+	// row swap
+	m4.swapRows(0, 2);
+	TEST(isEqual(m4, Matrix3f(data_row_02_swap)));
+	m4.swapRows(0, 2);
 
-    Matrix<float, 1, 1> m5 = s;
-    TEST(fabs(m5(0,0) - s) < FLT_EPSILON);
+	// swapping with same row should do nothing
+	m4.swapRows(0, 0);
+	m4.swapRows(1, 1);
+	m4.swapRows(2, 2);
+	TEST(isEqual(m4, Matrix3f(data)));
 
-    Matrix<float, 2, 2> m6;
-    m6.setRow(0, Vector2f(1, 2));
-    float m7_array[] = {1,2,0,0};
-    Matrix<float, 2, 2> m7(m7_array);
-    TEST(isEqual(m6, m7));
-    m6.setCol(0, Vector2f(3, 4));
-    float m8_array[] = {3,2,4,0};
-    Matrix<float, 2, 2> m8(m8_array);
-    TEST(isEqual(m6, m8));
+	// swapping with same col should do nothing
+	m4.swapCols(0, 0);
+	m4.swapCols(1, 1);
+	m4.swapCols(2, 2);
+	TEST(isEqual(m4, Matrix3f(data)));
 
-    m7.setNaN();
-    TEST(m7 != m8);
+	TEST(fabs(m4.min() - 1) < FLT_EPSILON);
+	TEST(fabs((-m4).min() + 9) < FLT_EPSILON);
 
-    // min, max, constrain matrix values with scalar
-    float data_m9[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
-    float lower_bound = 7;
-    float upper_bound = 11;
-    float data_m9_lower_bounded[9] = {7, 7, 7, 8, 10, 12, 14, 16, 18};
-    float data_m9_upper_bounded[9] = {2, 4, 6, 8, 10, 11, 11, 11, 11};
-    float data_m9_lower_constrained[9] = {7, 7, 7, 8, 10, 11, 11, 11, 11};
-    Matrix3f m9(data_m9);
-    Matrix3f m9_lower_bounded(data_m9_lower_bounded);
-    Matrix3f m9_upper_bounded(data_m9_upper_bounded);
-    Matrix3f m9_lower_upper_constrained(data_m9_lower_constrained);
-    TEST(isEqual(max(m9, lower_bound), m9_lower_bounded));
-    TEST(isEqual(max(lower_bound, m9), m9_lower_bounded));
-    TEST(isEqual(min(m9, upper_bound), m9_upper_bounded));
-    TEST(isEqual(min(upper_bound, m9), m9_upper_bounded));
-    TEST(isEqual(constrain(m9, lower_bound, upper_bound), m9_lower_upper_constrained));
-    TEST(isEqual(constrain(m9, 8.0f, 7.0f), m_nan));
+	Scalar<float> s = 1;
+	const Vector<float, 1> &s_vect = s;
+	TEST(fabs(s - 1) < FLT_EPSILON);
+	TEST(fabs(s_vect(0) - 1.0f) < FLT_EPSILON);
 
-    // min, max, constrain matrix values with matrix of same size
-    float data_m10[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
-    float data_m10_lower_bound[9] = {5, 7, 4, 8, 19, 10, 20, 16, 18};
-    float data_m10_lower_bounded_ref[9] = {5, 7, 6, 8, 19, 12, 20, 16, 18};
-    float data_m10_upper_bound[9] = {6, 4, 8, 18, 20, 11, 30, 16, 18};
-    float data_m10_upper_bounded_ref[9] = {2, 4, 6, 8, 10, 11, 14, 16, 18};
-    float data_m10_constrained_ref[9] = {5, NAN, 6, 8, 19, 11, 20, 16, 18};
-    Matrix3f m10(data_m10);
-    Matrix3f m10_lower_bound(data_m10_lower_bound);
-    Matrix3f m10_lower_bounded_ref(data_m10_lower_bounded_ref);
-    Matrix3f m10_upper_bound(data_m10_upper_bound);
-    Matrix3f m10_upper_bounded_ref(data_m10_upper_bounded_ref);
-    Matrix3f m10_constrained_ref(data_m10_constrained_ref);
-    TEST(isEqual(max(m10, m10_lower_bound), m10_lower_bounded_ref));
-    TEST(isEqual(max(m10_lower_bound, m10), m10_lower_bounded_ref));
-    TEST(isEqual(min(m10, m10_upper_bound), m10_upper_bounded_ref));
-    TEST(isEqual(min(m10_upper_bound, m9), m10_upper_bounded_ref));
-    TEST(isEqual(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref));
+	Matrix<float, 1, 1> m5 = s;
+	TEST(fabs(m5(0, 0) - s) < FLT_EPSILON);
 
-    // min, max, constrain with NAN
-    TEST(isEqualF(matrix::typeFunction::min(5.f, NAN), 5.f));
-    TEST(isEqualF(matrix::typeFunction::min(NAN, 5.f), 5.f));
-    TEST(isEqualF(matrix::typeFunction::min(NAN, NAN), NAN));
-    TEST(isEqualF(matrix::typeFunction::max(5.f, NAN), 5.f));
-    TEST(isEqualF(matrix::typeFunction::max(NAN, 5.f), 5.f));
-    TEST(isEqualF(matrix::typeFunction::max(NAN, NAN), NAN));
-    TEST(isEqualF(matrix::typeFunction::constrain(NAN, 5.f, 6.f), NAN));
-    TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, 4.f), NAN));
-    TEST(isEqualF(matrix::typeFunction::constrain(6.f, NAN, 5.f), 5.f));
-    TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, NAN), 5.f));
-    Vector2f v1{NAN, 5.0f};
-    Vector2f v1_min = min(v1, 1.f);
-    Matrix3f m11 = min(m10_constrained_ref,NAN);
-    TEST(isEqualF(fmin(NAN, 1.f), float(v1_min(0))));
-    TEST(isEqual(m11, m10_constrained_ref));
+	Matrix<float, 2, 2> m6;
+	m6.setRow(0, Vector2f(1, 2));
+	float m7_array[] = {1, 2, 0, 0};
+	Matrix<float, 2, 2> m7(m7_array);
+	TEST(isEqual(m6, m7));
+	m6.setCol(0, Vector2f(3, 4));
+	float m8_array[] = {3, 2, 4, 0};
+	Matrix<float, 2, 2> m8(m8_array);
+	TEST(isEqual(m6, m8));
 
-    // check write_string()
-    float comma[6] = {
-        1.f, 12345.123f,
-        12345.1228f, .1234567891011f,
-        12345678910.123456789f, 1234567891011.123456789101112f
-    };
-    Matrix<float, 3, 2> Comma(comma);
-    const size_t len = 15*2*3 + 2 + 1;
-    char buffer[len];
-    Comma.print(); // for debugging in case of failure
-    Comma.write_string(buffer, len);
-    printf("%s\n", buffer); // for debugging in case of failure
-    char output[] = "\t       1\t12345.123\n\t12345.123\t0.12345679\n\t1.2345679e+10\t1.234568e+12\n";
-    printf("%s\n", output); // for debugging in case of failure
-    for (size_t i = 0; i < len; i++) {
-        if(buffer[i] != output[i]) { // for debugging in case of failure
-            printf("%d: \"%c\" != \"%c\"", int(i), buffer[i], output[i]); // LCOV_EXCL_LINE only print on failure
-        }
-        TEST(buffer[i] == output[i]);
-        if (buffer[i] == '\0') {
-            break;
-        }
-    }
+	m7.setNaN();
+	TEST(m7 != m8);
 
-    // check print()
-    // Redirect stdout
-    TEST(freopen("testoutput.txt", "w", stdout) != NULL);
-    // write
-    Comma.print();
-    fclose(stdout);
-    // read
-    FILE *fp = fopen("testoutput.txt", "r");
-    TEST(fp != nullptr);
-    TEST(!fseek(fp, 0, SEEK_SET));
-    for (size_t i = 0; i < len; i++) {
-        char c = static_cast<char>(fgetc(fp));
-        if (c == '\n') {
-            break;
-        }
-        printf("%d %d %d\n", static_cast<int>(i), output[i], c);
-        TEST(c == output[i]);
-    }
-    TEST(!fclose(fp));
+	// min, max, constrain matrix values with scalar
+	float data_m9[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
+	float lower_bound = 7;
+	float upper_bound = 11;
+	float data_m9_lower_bounded[9] = {7, 7, 7, 8, 10, 12, 14, 16, 18};
+	float data_m9_upper_bounded[9] = {2, 4, 6, 8, 10, 11, 11, 11, 11};
+	float data_m9_lower_constrained[9] = {7, 7, 7, 8, 10, 11, 11, 11, 11};
+	Matrix3f m9(data_m9);
+	Matrix3f m9_lower_bounded(data_m9_lower_bounded);
+	Matrix3f m9_upper_bounded(data_m9_upper_bounded);
+	Matrix3f m9_lower_upper_constrained(data_m9_lower_constrained);
+	TEST(isEqual(max(m9, lower_bound), m9_lower_bounded));
+	TEST(isEqual(max(lower_bound, m9), m9_lower_bounded));
+	TEST(isEqual(min(m9, upper_bound), m9_upper_bounded));
+	TEST(isEqual(min(upper_bound, m9), m9_upper_bounded));
+	TEST(isEqual(constrain(m9, lower_bound, upper_bound), m9_lower_upper_constrained));
+	TEST(isEqual(constrain(m9, 8.0f, 7.0f), m_nan));
 
-    return 0;
+	// min, max, constrain matrix values with matrix of same size
+	float data_m10[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
+	float data_m10_lower_bound[9] = {5, 7, 4, 8, 19, 10, 20, 16, 18};
+	float data_m10_lower_bounded_ref[9] = {5, 7, 6, 8, 19, 12, 20, 16, 18};
+	float data_m10_upper_bound[9] = {6, 4, 8, 18, 20, 11, 30, 16, 18};
+	float data_m10_upper_bounded_ref[9] = {2, 4, 6, 8, 10, 11, 14, 16, 18};
+	float data_m10_constrained_ref[9] = {5, NAN, 6, 8, 19, 11, 20, 16, 18};
+	Matrix3f m10(data_m10);
+	Matrix3f m10_lower_bound(data_m10_lower_bound);
+	Matrix3f m10_lower_bounded_ref(data_m10_lower_bounded_ref);
+	Matrix3f m10_upper_bound(data_m10_upper_bound);
+	Matrix3f m10_upper_bounded_ref(data_m10_upper_bounded_ref);
+	Matrix3f m10_constrained_ref(data_m10_constrained_ref);
+	TEST(isEqual(max(m10, m10_lower_bound), m10_lower_bounded_ref));
+	TEST(isEqual(max(m10_lower_bound, m10), m10_lower_bounded_ref));
+	TEST(isEqual(min(m10, m10_upper_bound), m10_upper_bounded_ref));
+	TEST(isEqual(min(m10_upper_bound, m9), m10_upper_bounded_ref));
+	TEST(isEqual(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref));
+
+	// min, max, constrain with NAN
+	TEST(isEqualF(matrix::typeFunction::min(5.f, NAN), 5.f));
+	TEST(isEqualF(matrix::typeFunction::min(NAN, 5.f), 5.f));
+	TEST(isEqualF(matrix::typeFunction::min(NAN, NAN), NAN));
+	TEST(isEqualF(matrix::typeFunction::max(5.f, NAN), 5.f));
+	TEST(isEqualF(matrix::typeFunction::max(NAN, 5.f), 5.f));
+	TEST(isEqualF(matrix::typeFunction::max(NAN, NAN), NAN));
+	TEST(isEqualF(matrix::typeFunction::constrain(NAN, 5.f, 6.f), NAN));
+	TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, 4.f), NAN));
+	TEST(isEqualF(matrix::typeFunction::constrain(6.f, NAN, 5.f), 5.f));
+	TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, NAN), 5.f));
+	Vector2f v1{NAN, 5.0f};
+	Vector2f v1_min = min(v1, 1.f);
+	Matrix3f m11 = min(m10_constrained_ref, NAN);
+	TEST(isEqualF(fmin(NAN, 1.f), float(v1_min(0))));
+	TEST(isEqual(m11, m10_constrained_ref));
+
+	// check write_string()
+	float comma[6] = {
+		1.f, 12345.123f,
+		12345.1228f, .1234567891011f,
+		12345678910.123456789f, 1234567891011.123456789101112f
+	};
+	Matrix<float, 3, 2> Comma(comma);
+	const size_t len = 15 * 2 * 3 + 2 + 1;
+	char buffer[len];
+	Comma.print(); // for debugging in case of failure
+	Comma.write_string(buffer, len);
+	printf("%s\n", buffer); // for debugging in case of failure
+	char output[] = "\t       1\t12345.123\n\t12345.123\t0.12345679\n\t1.2345679e+10\t1.234568e+12\n";
+	printf("%s\n", output); // for debugging in case of failure
+
+	for (size_t i = 0; i < len; i++) {
+		if (buffer[i] != output[i]) { // for debugging in case of failure
+			printf("%d: \"%c\" != \"%c\"", int(i), buffer[i], output[i]); // LCOV_EXCL_LINE only print on failure
+		}
+
+		TEST(buffer[i] == output[i]);
+
+		if (buffer[i] == '\0') {
+			break;
+		}
+	}
+
+	// check print()
+	// Redirect stdout
+	TEST(freopen("testoutput.txt", "w", stdout) != NULL);
+	// write
+	Comma.print();
+	fclose(stdout);
+	// read
+	FILE *fp = fopen("testoutput.txt", "r");
+	TEST(fp != nullptr);
+	TEST(!fseek(fp, 0, SEEK_SET));
+
+	for (size_t i = 0; i < len; i++) {
+		char c = static_cast<char>(fgetc(fp));
+
+		if (c == '\n') {
+			break;
+		}
+
+		printf("%d %d %d\n", static_cast<int>(i), output[i], c);
+		TEST(c == output[i]);
+	}
+
+	TEST(!fclose(fp));
+
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/matrixMult.cpp

@@ -5,67 +5,66 @@ using namespace matrix;
 
 int main()
 {
-    float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
-    Matrix3f A(data);
+	float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
+	Matrix3f A(data);
 
-    float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
-    Matrix3f A_I(data_check);
-    Matrix3f I;
-    I.setIdentity();
-    Matrix3f R = A * A_I;
-    TEST(isEqual(R, I));
+	float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
+	Matrix3f A_I(data_check);
+	Matrix3f I;
+	I.setIdentity();
+	Matrix3f R = A * A_I;
+	TEST(isEqual(R, I));
 
-    Matrix3f R2 = A;
-    R2 *= A_I;
-    TEST(isEqual(R2, I));
+	Matrix3f R2 = A;
+	R2 *= A_I;
+	TEST(isEqual(R2, I));
 
-    TEST(R2==I);
-    TEST(A!=A_I);
-    Matrix3f A2 = eye<float, 3>()*2;
-    Matrix3f B = A2.emult(A2);
-    Matrix3f B_check = eye<float, 3>()*4;
-    Matrix3f C_check = eye<float, 3>()*2;
-    TEST(isEqual(B, B_check));
-    Matrix3f C = B_check.edivide(C_check);
+	TEST(R2 == I);
+	TEST(A != A_I);
+	Matrix3f A2 = eye<float, 3>() * 2;
+	Matrix3f B = A2.emult(A2);
+	Matrix3f B_check = eye<float, 3>() * 4;
+	Matrix3f C_check = eye<float, 3>() * 2;
+	TEST(isEqual(B, B_check));
+	Matrix3f C = B_check.edivide(C_check);
 
-    float off_diagonal_nan[9] = {2, NAN, NAN, NAN, 2, NAN, NAN, NAN, 2};
-    // off diagonal are NANs because division by 0
-    TEST(C == Matrix3f(off_diagonal_nan));
+	float off_diagonal_nan[9] = {2, NAN, NAN, NAN, 2, NAN, NAN, NAN, 2};
+	// off diagonal are NANs because division by 0
+	TEST(C == Matrix3f(off_diagonal_nan));
 
-    // Test non-square matrix
-    float data_43[12] = {1,3,2,
-                         2,2,1,
-                         5,2,1,
-                         2,3,4
-                        };
-    float data_32[6] = {2,3,
-                        1,7,
-                        5,4
-                       };
+	// Test non-square matrix
+	float data_43[12] = {1, 3, 2,
+			     2, 2, 1,
+			     5, 2, 1,
+			     2, 3, 4
+			    };
+	float data_32[6] = {2, 3,
+			    1, 7,
+			    5, 4
+			   };
 
-    Matrix<float, 4, 3> m43(data_43);
-    Matrix<float, 3, 2> m32(data_32);
+	Matrix<float, 4, 3> m43(data_43);
+	Matrix<float, 3, 2> m32(data_32);
 
-    Matrix<float, 4, 2> m42 = m43 * m32;
+	Matrix<float, 4, 2> m42 = m43 * m32;
 
-    float data_42[8] = {15,32,
-                        11,24,
-                        17,33,
-                        27,43
-                       };
-    Matrix<float, 4, 2> m42_check(data_42);
-    TEST(isEqual(m42, m42_check))
+	float data_42[8] = {15, 32,
+			    11, 24,
+			    17, 33,
+			    27, 43
+			   };
+	Matrix<float, 4, 2> m42_check(data_42);
+	TEST(isEqual(m42, m42_check))
 
-    float data_42_plus2[8] = {17,34,
-                              13,26,
-                              19,35,
-                              29,45
-                             };
-    Matrix<float, 4, 2> m42_plus2_check(data_42_plus2);
-    Matrix<float, 4, 2> m42_plus2 = m42 - (-2);
-    TEST(isEqual(m42_plus2, m42_plus2_check));
+	float data_42_plus2[8] = {17, 34,
+				  13, 26,
+				  19, 35,
+				  29, 45
+				 };
+	Matrix<float, 4, 2> m42_plus2_check(data_42_plus2);
+	Matrix<float, 4, 2> m42_plus2 = m42 - (-2);
+	TEST(isEqual(m42_plus2, m42_plus2_check));
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/matrixScalarMult.cpp

@@ -6,13 +6,12 @@ using namespace matrix;
 
 int main()
 {
-    float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
-    Matrix3f A(data);
-    A = A * 2;
-    float data_check[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
-    Matrix3f A_check(data_check);
-    TEST(isEqual(A, A_check));
-    return 0;
+	float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
+	Matrix3f A(data);
+	A = A * 2;
+	float data_check[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
+	Matrix3f A_check(data_check);
+	TEST(isEqual(A, A_check));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/pseudoInverse.cpp

@@ -7,147 +7,146 @@ static const size_t n_large = 20;
 
 int main()
 {
-    // 3x4 Matrix test
-    float data0[12] = {
-        0.f, 1.f,  2.f,  3.f,
-        4.f, 5.f,  6.f,  7.f,
-        8.f, 9.f, 10.f, 11.f
-    };
+	// 3x4 Matrix test
+	float data0[12] = {
+		0.f, 1.f,  2.f,  3.f,
+		4.f, 5.f,  6.f,  7.f,
+		8.f, 9.f, 10.f, 11.f
+	};
 
-    float data0_check[12] = {
-        -0.3375f, -0.1f,  0.1375f,
-        -0.13333333f, -0.03333333f,  0.06666667f,
-        0.07083333f,  0.03333333f, -0.00416667f,
-        0.275f,  0.1f, -0.075f
-    };
+	float data0_check[12] = {
+		-0.3375f, -0.1f,  0.1375f,
+			-0.13333333f, -0.03333333f,  0.06666667f,
+			0.07083333f,  0.03333333f, -0.00416667f,
+			0.275f,  0.1f, -0.075f
+		};
 
-    Matrix<float, 3, 4> A0(data0);
-    Matrix<float, 4, 3> A0_I;
-    bool ret = geninv(A0, A0_I);
-    TEST(ret);
-    Matrix<float, 4, 3> A0_I_check(data0_check);
+	Matrix<float, 3, 4> A0(data0);
+	Matrix<float, 4, 3> A0_I;
+	bool ret = geninv(A0, A0_I);
+	TEST(ret);
+	Matrix<float, 4, 3> A0_I_check(data0_check);
 
-    TEST((A0_I - A0_I_check).abs().max() < 1e-5);
+	TEST((A0_I - A0_I_check).abs().max() < 1e-5);
 
-    // 4x3 Matrix test
-    float data1[12] = {
-        0.f, 4.f, 8.f,
-        1.f, 5.f, 9.f,
-        2.f, 6.f, 10.f,
-        3.f, 7.f, 11.f
-    };
+	// 4x3 Matrix test
+	float data1[12] = {
+		0.f, 4.f, 8.f,
+		1.f, 5.f, 9.f,
+		2.f, 6.f, 10.f,
+		3.f, 7.f, 11.f
+	};
 
-    float data1_check[12] = {
-        -0.3375f, -0.13333333f,  0.07083333f,  0.275f,
-        -0.1f, -0.03333333f,  0.03333333f,  0.1f,
-        0.1375f,  0.06666667f, -0.00416667f, -0.075f
-    };
+	float data1_check[12] = {
+		-0.3375f, -0.13333333f,  0.07083333f,  0.275f,
+			-0.1f, -0.03333333f,  0.03333333f,  0.1f,
+			0.1375f,  0.06666667f, -0.00416667f, -0.075f
+		};
 
-    Matrix<float, 4, 3> A1(data1);
-    Matrix<float, 3, 4> A1_I;
-    ret = geninv(A1, A1_I);
-    TEST(ret);
-    Matrix<float, 3, 4> A1_I_check(data1_check);
+	Matrix<float, 4, 3> A1(data1);
+	Matrix<float, 3, 4> A1_I;
+	ret = geninv(A1, A1_I);
+	TEST(ret);
+	Matrix<float, 3, 4> A1_I_check(data1_check);
 
-    TEST((A1_I - A1_I_check).abs().max() < 1e-5);
+	TEST((A1_I - A1_I_check).abs().max() < 1e-5);
 
-    // Stess test
-    Matrix<float, n_large, n_large - 1> A_large;
-    A_large.setIdentity();
-    Matrix<float, n_large - 1, n_large> A_large_I;
+	// Stess test
+	Matrix < float, n_large, n_large - 1 > A_large;
+	A_large.setIdentity();
+	Matrix < float, n_large - 1, n_large > A_large_I;
 
-    for (size_t i = 0; i < n_large; i++) {
-        ret = geninv(A_large, A_large_I);
-        TEST(ret);
-        TEST(isEqual(A_large, A_large_I.T()));
-    }
+	for (size_t i = 0; i < n_large; i++) {
+		ret = geninv(A_large, A_large_I);
+		TEST(ret);
+		TEST(isEqual(A_large, A_large_I.T()));
+	}
 
-    // Square matrix test
-    float data2[9] = {0, 2, 3,
-                      4, 5, 6,
-                      7, 8, 10
-                     };
-    float data2_check[9] = {
-        -0.4f, -0.8f,  0.6f,
-        -0.4f,  4.2f, -2.4f,
-        0.6f, -2.8f,  1.6f
-    };
+	// Square matrix test
+	float data2[9] = {0, 2, 3,
+			  4, 5, 6,
+			  7, 8, 10
+			 };
+	float data2_check[9] = {
+		-0.4f, -0.8f,  0.6f,
+			-0.4f,  4.2f, -2.4f,
+			0.6f, -2.8f,  1.6f
+		};
 
-    SquareMatrix<float, 3> A2(data2);
-    SquareMatrix<float, 3> A2_I;
-    ret = geninv(A2, A2_I);
-    TEST(ret);
-    SquareMatrix<float, 3> A2_I_check(data2_check);
-    TEST((A2_I - A2_I_check).abs().max() < 1e-3);
+	SquareMatrix<float, 3> A2(data2);
+	SquareMatrix<float, 3> A2_I;
+	ret = geninv(A2, A2_I);
+	TEST(ret);
+	SquareMatrix<float, 3> A2_I_check(data2_check);
+	TEST((A2_I - A2_I_check).abs().max() < 1e-3);
 
-    // Null matrix test
-    Matrix<float, 6, 16> A3;
-    Matrix<float, 16, 6> A3_I;
-    ret = geninv(A3, A3_I);
-    TEST(ret);
-    Matrix<float, 16, 6> A3_I_check;
-    TEST((A3_I - A3_I_check).abs().max() < 1e-5);
+	// Null matrix test
+	Matrix<float, 6, 16> A3;
+	Matrix<float, 16, 6> A3_I;
+	ret = geninv(A3, A3_I);
+	TEST(ret);
+	Matrix<float, 16, 6> A3_I_check;
+	TEST((A3_I - A3_I_check).abs().max() < 1e-5);
 
-    // Mock-up effectiveness matrix
-    const float B_quad_w[6][16] = {
-        {-0.5717536f,  0.43756646f,  0.5717536f, -0.43756646f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
-        { 0.35355328f, -0.35355328f,  0.35355328f, -0.35355328f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
-        { 0.28323701f,  0.28323701f, -0.28323701f, -0.28323701f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
-        { 0.f,  0.f,  0.f,  0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
-        { 0.f,  0.f,  0.f,  0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
-        {-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
-    };
-    Matrix<float, 6, 16> B = Matrix<float, 6, 16>(B_quad_w);
-    const float A_quad_w[16][6] = {
-        { -0.495383f,  0.707107f,  0.765306f,  0.0f, 0.0f, -1.000000f },
-        {  0.495383f, -0.707107f,  1.000000f,  0.0f, 0.0f, -1.000000f },
-        {  0.495383f,  0.707107f, -0.765306f,  0.0f, 0.0f, -1.000000f },
-        { -0.495383f, -0.707107f, -1.000000f,  0.0f, 0.0f, -1.000000f },
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
-        { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}
-    };
-    Matrix<float, 16, 6> A_check = Matrix<float, 16, 6>(A_quad_w);
-    Matrix<float, 16, 6> A;
-    ret = geninv(B, A);
-    TEST(ret);
-    TEST((A - A_check).abs().max() < 1e-5);
+	// Mock-up effectiveness matrix
+	const float B_quad_w[6][16] = {
+		{-0.5717536f,  0.43756646f,  0.5717536f, -0.43756646f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
+		{ 0.35355328f, -0.35355328f,  0.35355328f, -0.35355328f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
+		{ 0.28323701f,  0.28323701f, -0.28323701f, -0.28323701f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
+		{ 0.f,  0.f,  0.f,  0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
+		{ 0.f,  0.f,  0.f,  0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
+		{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
+	};
+	Matrix<float, 6, 16> B = Matrix<float, 6, 16>(B_quad_w);
+	const float A_quad_w[16][6] = {
+		{ -0.495383f,  0.707107f,  0.765306f,  0.0f, 0.0f, -1.000000f },
+		{  0.495383f, -0.707107f,  1.000000f,  0.0f, 0.0f, -1.000000f },
+		{  0.495383f,  0.707107f, -0.765306f,  0.0f, 0.0f, -1.000000f },
+		{ -0.495383f, -0.707107f, -1.000000f,  0.0f, 0.0f, -1.000000f },
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
+		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}
+	};
+	Matrix<float, 16, 6> A_check = Matrix<float, 16, 6>(A_quad_w);
+	Matrix<float, 16, 6> A;
+	ret = geninv(B, A);
+	TEST(ret);
+	TEST((A - A_check).abs().max() < 1e-5);
 
-    // Real-world test case
-    const float real_alloc[5][6] = {
-        { 0.794079,  0.794079,  0.794079,  0.794079,  0.0000,  0.0000},
-        { 0.607814,  0.607814,  0.607814,  0.607814,  1.0000,  1.0000},
-        {-0.672516,  0.915642, -0.915642,  0.672516,  0.0000,  0.0000},
-        { 0.159704,  0.159704,  0.159704,  0.159704, -0.2500, -0.2500},
-        { 0.607814, -0.607814,  0.607814, -0.607814,  1.0000,  1.0000}
-    };
-    Matrix<float, 5, 6> real ( real_alloc);
-    Matrix<float, 6, 5> real_pinv;
-    ret = geninv(real, real_pinv);
-    TEST(ret);
+	// Real-world test case
+	const float real_alloc[5][6] = {
+		{ 0.794079,  0.794079,  0.794079,  0.794079,  0.0000,  0.0000},
+		{ 0.607814,  0.607814,  0.607814,  0.607814,  1.0000,  1.0000},
+		{-0.672516,  0.915642, -0.915642,  0.672516,  0.0000,  0.0000},
+		{ 0.159704,  0.159704,  0.159704,  0.159704, -0.2500, -0.2500},
+		{ 0.607814, -0.607814,  0.607814, -0.607814,  1.0000,  1.0000}
+	};
+	Matrix<float, 5, 6> real(real_alloc);
+	Matrix<float, 6, 5> real_pinv;
+	ret = geninv(real, real_pinv);
+	TEST(ret);
 
-    // from SVD-based inverse
-    const float real_pinv_expected_alloc[6][5] = {
-        { 2.096205,  -2.722267,   2.056547,   1.503279,   3.098087},
-        { 1.612621,  -1.992694,   2.056547,   1.131090,   2.275467},
-        {-1.062688,   2.043479,  -2.056547,  -0.927950,  -2.275467},
-        {-1.546273,   2.773052,  -2.056547,  -1.300139,  -3.098087},
-        {-0.293930,   0.443445,   0.000000,  -0.226222,   0.000000},
-        {-0.293930,   0.443445,   0.000000,  -0.226222,   0.000000}
-    };
-    Matrix<float, 6, 5> real_pinv_expected(real_pinv_expected_alloc);
-    TEST((real_pinv - real_pinv_expected).abs().max() < 1e-4);
+	// from SVD-based inverse
+	const float real_pinv_expected_alloc[6][5] = {
+		{ 2.096205,  -2.722267,   2.056547,   1.503279,   3.098087},
+		{ 1.612621,  -1.992694,   2.056547,   1.131090,   2.275467},
+		{-1.062688,   2.043479,  -2.056547,  -0.927950,  -2.275467},
+		{-1.546273,   2.773052,  -2.056547,  -1.300139,  -3.098087},
+		{-0.293930,   0.443445,   0.000000,  -0.226222,   0.000000},
+		{-0.293930,   0.443445,   0.000000,  -0.226222,   0.000000}
+	};
+	Matrix<float, 6, 5> real_pinv_expected(real_pinv_expected_alloc);
+	TEST((real_pinv - real_pinv_expected).abs().max() < 1e-4);
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/setIdentity.cpp

@@ -5,35 +5,34 @@ using namespace matrix;
 
 int main()
 {
-    Matrix3f A;
-    A.setIdentity();
+	Matrix3f A;
+	A.setIdentity();
 
-    for (size_t i = 0; i < 3; i++) {
-        for (size_t j = 0; j < 3; j++) {
-            if (i == j) {
-                TEST(fabs(A(i, j) -  1) < FLT_EPSILON);
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			if (i == j) {
+				TEST(fabs(A(i, j) -  1) < FLT_EPSILON);
 
-            } else {
-                TEST(fabs(A(i, j) -  0) < FLT_EPSILON);
-            }
-        }
-    }
+			} else {
+				TEST(fabs(A(i, j) -  0) < FLT_EPSILON);
+			}
+		}
+	}
 
-    Matrix3f B;
-    B.identity();
+	Matrix3f B;
+	B.identity();
 
-    for (size_t i = 0; i < 3; i++) {
-        for (size_t j = 0; j < 3; j++) {
-            if (i == j) {
-                TEST(fabs(B(i, j) -  1) < FLT_EPSILON);
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			if (i == j) {
+				TEST(fabs(B(i, j) -  1) < FLT_EPSILON);
 
-            } else {
-                TEST(fabs(B(i, j) -  0) < FLT_EPSILON);
-            }
-        }
-    }
+			} else {
+				TEST(fabs(B(i, j) -  0) < FLT_EPSILON);
+			}
+		}
+	}
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/slice.cpp

@@ -8,228 +8,229 @@ template class matrix::Slice<float, 2, 3, 4, 5>; // so that we get full coverage
 
 int main()
 {
-    float data[9] = {0, 2, 3,
-                     4, 5, 6,
-                     7, 8, 10
-                    };
-    SquareMatrix<float, 3> A(data);
+	float data[9] = {0, 2, 3,
+			 4, 5, 6,
+			 7, 8, 10
+			};
+	SquareMatrix<float, 3> A(data);
 
-    // Test row slicing
-    Matrix<float, 2, 3> B_rowslice(A.slice<2, 3>(1, 0));
-    float data_check_rowslice[6] = {
-        4, 5, 6,
-        7, 8, 10
-    };
-    Matrix<float, 2, 3> B_check_rowslice(data_check_rowslice);
-    TEST(isEqual(B_rowslice, B_check_rowslice));
+	// Test row slicing
+	Matrix<float, 2, 3> B_rowslice(A.slice<2, 3>(1, 0));
+	float data_check_rowslice[6] = {
+		4, 5, 6,
+		7, 8, 10
+	};
+	Matrix<float, 2, 3> B_check_rowslice(data_check_rowslice);
+	TEST(isEqual(B_rowslice, B_check_rowslice));
 
-    // Test column slicing
-    Matrix<float, 3, 2> B_colslice(A.slice<3, 2>(0, 1));
-    float data_check_colslice[6] = {
-        2, 3,
-        5, 6,
-        8, 10
-    };
-    Matrix<float, 3, 2> B_check_colslice(data_check_colslice);
-    TEST(isEqual(B_colslice, B_check_colslice));
+	// Test column slicing
+	Matrix<float, 3, 2> B_colslice(A.slice<3, 2>(0, 1));
+	float data_check_colslice[6] = {
+		2, 3,
+		5, 6,
+		8, 10
+	};
+	Matrix<float, 3, 2> B_check_colslice(data_check_colslice);
+	TEST(isEqual(B_colslice, B_check_colslice));
 
-    // Test slicing both
-    Matrix<float, 2, 2> B_bothslice(A.slice<2, 2>(1, 1));
-    float data_check_bothslice[4] = {
-        5, 6,
-        8, 10
-    };
-    Matrix<float, 2, 2> B_check_bothslice(data_check_bothslice);
-    TEST(isEqual(B_bothslice, B_check_bothslice));
+	// Test slicing both
+	Matrix<float, 2, 2> B_bothslice(A.slice<2, 2>(1, 1));
+	float data_check_bothslice[4] = {
+		5, 6,
+		8, 10
+	};
+	Matrix<float, 2, 2> B_check_bothslice(data_check_bothslice);
+	TEST(isEqual(B_bothslice, B_check_bothslice));
 
-    //Test block writing
-    float data_2[4] = {
-        11, 12,
-        13, 14
-    };
+	//Test block writing
+	float data_2[4] = {
+		11, 12,
+		13, 14
+	};
 
-    Matrix<float, 2, 2> C(data_2);
-    A.slice<2, 2>(1, 1) = C;
+	Matrix<float, 2, 2> C(data_2);
+	A.slice<2, 2>(1, 1) = C;
 
-    float data_2_check[9] = {
-        0, 2, 3,
-        4, 11, 12,
-        7, 13, 14
-    };
-    Matrix<float, 3, 3> D(data_2_check);
-    TEST(isEqual(A, D));
+	float data_2_check[9] = {
+		0, 2, 3,
+		4, 11, 12,
+		7, 13, 14
+	};
+	Matrix<float, 3, 3> D(data_2_check);
+	TEST(isEqual(A, D));
 
-    //Test writing to slices
-    Matrix<float, 3, 1> E;
-    E(0,0) = -1;
-    E(1,0) = 1;
-    E(2,0) = 3;
+	//Test writing to slices
+	Matrix<float, 3, 1> E;
+	E(0, 0) = -1;
+	E(1, 0) = 1;
+	E(2, 0) = 3;
 
-    Matrix<float, 2, 1> F;
-    F(0,0) = 9;
-    F(1,0) = 11;
+	Matrix<float, 2, 1> F;
+	F(0, 0) = 9;
+	F(1, 0) = 11;
 
-    E.slice<2,1>(0,0) = F;
+	E.slice<2, 1>(0, 0) = F;
 
-    float data_3_check[3] = {9, 11, 3};
-    Matrix<float, 3, 1> G (data_3_check);
-    TEST(isEqual(E, G));
-    TEST(isEqual(E, Matrix<float,3,1>(E.slice<3,1>(0,0))));
+	float data_3_check[3] = {9, 11, 3};
+	Matrix<float, 3, 1> G(data_3_check);
+	TEST(isEqual(E, G));
+	TEST(isEqual(E, Matrix<float, 3, 1>(E.slice<3, 1>(0, 0))));
 
-    Matrix<float, 2, 1> H = E.slice<2,1>(0,0);
-    TEST(isEqual(H,F));
+	Matrix<float, 2, 1> H = E.slice<2, 1>(0, 0);
+	TEST(isEqual(H, F));
 
-    float data_4_check[5] = {3, 11, 9, 0, 0};
-    {   // assigning row slices to each other
-        const Matrix<float, 3, 1> J (data_3_check);
-        Matrix<float, 5, 1> K;
-        K.row(2) = J.row(0);
-        K.row(1) = J.row(1);
-        K.row(0) = J.row(2);
+	float data_4_check[5] = {3, 11, 9, 0, 0};
+	{
+		// assigning row slices to each other
+		const Matrix<float, 3, 1> J(data_3_check);
+		Matrix<float, 5, 1> K;
+		K.row(2) = J.row(0);
+		K.row(1) = J.row(1);
+		K.row(0) = J.row(2);
 
-        Matrix<float, 5, 1> K_check(data_4_check);
-        TEST(isEqual(K, K_check));
-    }
-    {   // assigning col slices to each other
-        const Matrix<float, 1, 3> J (data_3_check);
-        Matrix<float, 1, 5> K;
-        K.col(2) = J.col(0);
-        K.col(1) = J.col(1);
-        K.col(0) = J.col(2);
+		Matrix<float, 5, 1> K_check(data_4_check);
+		TEST(isEqual(K, K_check));
+	}
+	{
+		// assigning col slices to each other
+		const Matrix<float, 1, 3> J(data_3_check);
+		Matrix<float, 1, 5> K;
+		K.col(2) = J.col(0);
+		K.col(1) = J.col(1);
+		K.col(0) = J.col(2);
 
-        Matrix<float, 1, 5> K_check(data_4_check);
-        TEST(isEqual(K, K_check));
-    }
+		Matrix<float, 1, 5> K_check(data_4_check);
+		TEST(isEqual(K, K_check));
+	}
 
-    // check that slice of a slice works for reading
-    const Matrix<float, 3, 3> cm33(data);
-    Matrix<float, 2, 1> topRight = cm33.slice<2,3>(0,0).slice<2,1>(0,2);
-    float top_right_check[2] = {3,6};
-    TEST(isEqual(topRight, Matrix<float, 2, 1>(top_right_check)));
+	// check that slice of a slice works for reading
+	const Matrix<float, 3, 3> cm33(data);
+	Matrix<float, 2, 1> topRight = cm33.slice<2, 3>(0, 0).slice<2, 1>(0, 2);
+	float top_right_check[2] = {3, 6};
+	TEST(isEqual(topRight, Matrix<float, 2, 1>(top_right_check)));
 
-    // check that slice of a slice works for writing
-    Matrix<float, 3, 3> m33(data);
-    m33.slice<2,3>(0,0).slice<2,1>(0,2) = Matrix<float, 2, 1>();
-    const float data_check[9] = {0, 2, 0,
-                                 4, 5, 0,
-                                 7, 8, 10
-                                };
-    TEST(isEqual(m33, Matrix<float, 3, 3>(data_check)));
+	// check that slice of a slice works for writing
+	Matrix<float, 3, 3> m33(data);
+	m33.slice<2, 3>(0, 0).slice<2, 1>(0, 2) = Matrix<float, 2, 1>();
+	const float data_check[9] = {0, 2, 0,
+				     4, 5, 0,
+				     7, 8, 10
+				    };
+	TEST(isEqual(m33, Matrix<float, 3, 3>(data_check)));
 
-    // longerThan
-    Vector3f v5;
-    v5(0) = 3;
-    v5(1) = 4;
-    v5(2) = 9;
-    TEST(v5.xy().longerThan(4.99f));
-    TEST(!v5.xy().longerThan(5.f));
-    TEST(isEqualF(5.f, v5.xy().norm()));
+	// longerThan
+	Vector3f v5;
+	v5(0) = 3;
+	v5(1) = 4;
+	v5(2) = 9;
+	TEST(v5.xy().longerThan(4.99f));
+	TEST(!v5.xy().longerThan(5.f));
+	TEST(isEqualF(5.f, v5.xy().norm()));
 
-    // min/max
-    TEST(m33.row(1).max() == 5);
-    TEST(m33.col(0).min() == 0);
-    TEST((m33.slice<2,2>(1,1).max()) == 10);
+	// min/max
+	TEST(m33.row(1).max() == 5);
+	TEST(m33.col(0).min() == 0);
+	TEST((m33.slice<2, 2>(1, 1).max()) == 10);
 
-    // assign scalar value to slice
-    Matrix<float, 3, 1> L;
-    L(0,0) = -1;
-    L(1,0) = 1;
-    L(2,0) = 3;
+	// assign scalar value to slice
+	Matrix<float, 3, 1> L;
+	L(0, 0) = -1;
+	L(1, 0) = 1;
+	L(2, 0) = 3;
 
-    L.slice<2,1>(0,0) = 0.0f;
+	L.slice<2, 1>(0, 0) = 0.0f;
 
-    float data_5_check[3] = {0, 0, 3};
-    Matrix<float, 3, 1> M (data_5_check);
-    TEST(isEqual(L, M));
+	float data_5_check[3] = {0, 0, 3};
+	Matrix<float, 3, 1> M(data_5_check);
+	TEST(isEqual(L, M));
 
-    // return diagonal elements
-    float data_6[9] = {0, 2, 3,
-                       4, 5, 6,
-                       7, 8, 10
-                      };
-    SquareMatrix<float, 3> N(data_6);
+	// return diagonal elements
+	float data_6[9] = {0, 2, 3,
+			   4, 5, 6,
+			   7, 8, 10
+			  };
+	SquareMatrix<float, 3> N(data_6);
 
-    Vector3f v6 = N.slice<3,3>(0,0).diag();
-    Vector3f v6_check = {0, 5, 10};
-    TEST(isEqual(v6,v6_check));
-    Vector2f v7 = N.slice<2,3>(1,0).diag();
-    Vector2f v7_check = {4, 8};
-    TEST(isEqual(v7,v7_check));
-    Vector2f v8 = N.slice<3,2>(0,1).diag();
-    Vector2f v8_check = {2, 6};
-    TEST(isEqual(v8,v8_check));
-    Vector2f v9(N.slice<1,2>(1,1));
-    Vector2f v9_check = {5, 6};
-    TEST(isEqual(v9,v9_check));
-    Vector3f v10(N.slice<1,3>(1,0));
-    Vector3f v10_check = {4, 5, 6};
-    TEST(isEqual(v10,v10_check));
+	Vector3f v6 = N.slice<3, 3>(0, 0).diag();
+	Vector3f v6_check = {0, 5, 10};
+	TEST(isEqual(v6, v6_check));
+	Vector2f v7 = N.slice<2, 3>(1, 0).diag();
+	Vector2f v7_check = {4, 8};
+	TEST(isEqual(v7, v7_check));
+	Vector2f v8 = N.slice<3, 2>(0, 1).diag();
+	Vector2f v8_check = {2, 6};
+	TEST(isEqual(v8, v8_check));
+	Vector2f v9(N.slice<1, 2>(1, 1));
+	Vector2f v9_check = {5, 6};
+	TEST(isEqual(v9, v9_check));
+	Vector3f v10(N.slice<1, 3>(1, 0));
+	Vector3f v10_check = {4, 5, 6};
+	TEST(isEqual(v10, v10_check));
 
-    // Different assignment operators
-    SquareMatrix3f O(data);
-    float operand_data [4] = {2, 1, -3, -1};
-    const SquareMatrix<float, 2> operand(operand_data);
+	// Different assignment operators
+	SquareMatrix3f O(data);
+	float operand_data [4] = {2, 1, -3, -1};
+	const SquareMatrix<float, 2> operand(operand_data);
 
-    O.slice<2,2>(1,0) += operand;
-    float O_check_data_1 [9] = {0, 2, 3,  6, 6, 6,  4, 7, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_1)));
+	O.slice<2, 2>(1, 0) += operand;
+	float O_check_data_1 [9] = {0, 2, 3,  6, 6, 6,  4, 7, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_1)));
 
-    O = SquareMatrix3f(data);
-    O.slice<2,1>(1,1) += operand.slice<2,1>(0,0);
-    float O_check_data_2 [9] = {0, 2, 3,  4, 7, 6,  7, 5, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_2)));
+	O = SquareMatrix3f(data);
+	O.slice<2, 1>(1, 1) += operand.slice<2, 1>(0, 0);
+	float O_check_data_2 [9] = {0, 2, 3,  4, 7, 6,  7, 5, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_2)));
 
-    O = SquareMatrix3f(data);
-    O.slice<3,3>(0,0) += -1;
-    float O_check_data_3 [9] = {-1, 1, 2,  3, 4, 5,  6, 7, 9};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_3)));
+	O = SquareMatrix3f(data);
+	O.slice<3, 3>(0, 0) += -1;
+	float O_check_data_3 [9] = {-1, 1, 2,  3, 4, 5,  6, 7, 9};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_3)));
 
-    O = SquareMatrix3f(data);
-    O.col(1) += Vector3f{1, -2, 3};
-    float O_check_data_4 [9] = {0, 3, 3,  4, 3, 6,  7, 11, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_4)));
+	O = SquareMatrix3f(data);
+	O.col(1) += Vector3f{1, -2, 3};
+	float O_check_data_4 [9] = {0, 3, 3,  4, 3, 6,  7, 11, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_4)));
 
-    O = SquareMatrix3f(data);
-    O.slice<2,2>(1,0) -= operand;
-    float O_check_data_5 [9] = {0, 2, 3,  2, 4, 6,  10, 9, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_5)));
+	O = SquareMatrix3f(data);
+	O.slice<2, 2>(1, 0) -= operand;
+	float O_check_data_5 [9] = {0, 2, 3,  2, 4, 6,  10, 9, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_5)));
 
-    O = SquareMatrix3f(data);
-    O.slice<2,1>(1,1) -= operand.slice<2,1>(0,0);
-    float O_check_data_6 [9] = {0, 2, 3,  4, 3, 6,  7, 11, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_6)));
+	O = SquareMatrix3f(data);
+	O.slice<2, 1>(1, 1) -= operand.slice<2, 1>(0, 0);
+	float O_check_data_6 [9] = {0, 2, 3,  4, 3, 6,  7, 11, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_6)));
 
-    O = SquareMatrix3f(data);
-    O.slice<3,3>(0,0) -= -1;
-    float O_check_data_7 [9] = {1, 3, 4,  5, 6, 7,  8, 9, 11};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_7)));
+	O = SquareMatrix3f(data);
+	O.slice<3, 3>(0, 0) -= -1;
+	float O_check_data_7 [9] = {1, 3, 4,  5, 6, 7,  8, 9, 11};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_7)));
 
-    O = SquareMatrix3f(data);
-    O.col(1) -= Vector3f{1, -2, 3};
-    float O_check_data_8 [9] = {0, 1, 3,  4, 7, 6,  7, 5, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_8)));
+	O = SquareMatrix3f(data);
+	O.col(1) -= Vector3f{1, -2, 3};
+	float O_check_data_8 [9] = {0, 1, 3,  4, 7, 6,  7, 5, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_8)));
 
-    O = SquareMatrix3f(data);
-    O.slice<2,1>(1,1) *= 5.f;
-    float O_check_data_9 [9] = {0, 2, 3,  4, 25, 6,  7, 40, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_9)));
+	O = SquareMatrix3f(data);
+	O.slice<2, 1>(1, 1) *= 5.f;
+	float O_check_data_9 [9] = {0, 2, 3,  4, 25, 6,  7, 40, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_9)));
 
-    O = SquareMatrix3f(data);
-    O.slice<2,1>(1,1) /= 2.f;
-    float O_check_data_10 [9] = {0, 2, 3,  4, 2.5, 6,  7, 4, 10};
-    TEST(isEqual(O, SquareMatrix3f(O_check_data_10)));
+	O = SquareMatrix3f(data);
+	O.slice<2, 1>(1, 1) /= 2.f;
+	float O_check_data_10 [9] = {0, 2, 3,  4, 2.5, 6,  7, 4, 10};
+	TEST(isEqual(O, SquareMatrix3f(O_check_data_10)));
 
-    // Different operations
-    O = SquareMatrix3f(data);
-    SquareMatrix<float, 2> res_11(O.slice<2,2>(1,1) * 2.f);
-    float O_check_data_11 [4] = {10, 12, 16, 20};
-    TEST(isEqual(res_11, SquareMatrix<float, 2>(O_check_data_11)));
+	// Different operations
+	O = SquareMatrix3f(data);
+	SquareMatrix<float, 2> res_11(O.slice<2, 2>(1, 1) * 2.f);
+	float O_check_data_11 [4] = {10, 12, 16, 20};
+	TEST(isEqual(res_11, SquareMatrix<float, 2>(O_check_data_11)));
 
-    O = SquareMatrix3f(data);
-    SquareMatrix<float, 2> res_12(O.slice<2,2>(1,1) / 2.f);
-    float O_check_data_12 [4] = {2.5, 3, 4, 5};
-    TEST(isEqual(res_12, SquareMatrix<float, 2>(O_check_data_12)));
-    return 0;
+	O = SquareMatrix3f(data);
+	SquareMatrix<float, 2> res_12(O.slice<2, 2>(1, 1) / 2.f);
+	float O_check_data_12 [4] = {2.5, 3, 4, 5};
+	TEST(isEqual(res_12, SquareMatrix<float, 2>(O_check_data_12)));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/sparseVector.cpp

@@ -3,117 +3,131 @@
 
 using namespace matrix;
 
-TEST(sparseVectorTest, defaultConstruction) {
-    SparseVectorf<24, 4, 6> a;
-    EXPECT_EQ(a.non_zeros(), 2);
-    EXPECT_EQ(a.index(0), 4);
-    EXPECT_EQ(a.index(1), 6);
-    a.at<4>() = 1.f;
-    a.at<6>() = 2.f;
+TEST(sparseVectorTest, defaultConstruction)
+{
+	SparseVectorf<24, 4, 6> a;
+	EXPECT_EQ(a.non_zeros(), 2);
+	EXPECT_EQ(a.index(0), 4);
+	EXPECT_EQ(a.index(1), 6);
+	a.at<4>() = 1.f;
+	a.at<6>() = 2.f;
 }
 
-TEST(sparseVectorTest, initializationWithData) {
-    const float data[3] = {1.f, 2.f, 3.f};
-    SparseVectorf<24, 4, 6, 22> a(data);
-    EXPECT_EQ(a.non_zeros(), 3);
-    EXPECT_EQ(a.index(0), 4);
-    EXPECT_EQ(a.index(1), 6);
-    EXPECT_EQ(a.index(2), 22);
-    EXPECT_FLOAT_EQ(a.at<4>(), data[0]);
-    EXPECT_FLOAT_EQ(a.at<6>(), data[1]);
-    EXPECT_FLOAT_EQ(a.at<22>(), data[2]);
+TEST(sparseVectorTest, initializationWithData)
+{
+	const float data[3] = {1.f, 2.f, 3.f};
+	SparseVectorf<24, 4, 6, 22> a(data);
+	EXPECT_EQ(a.non_zeros(), 3);
+	EXPECT_EQ(a.index(0), 4);
+	EXPECT_EQ(a.index(1), 6);
+	EXPECT_EQ(a.index(2), 22);
+	EXPECT_FLOAT_EQ(a.at<4>(), data[0]);
+	EXPECT_FLOAT_EQ(a.at<6>(), data[1]);
+	EXPECT_FLOAT_EQ(a.at<22>(), data[2]);
 }
 
-TEST(sparseVectorTest, initialisationFromVector) {
-    const Vector3f vec(1.f, 2.f, 3.f);
-    const SparseVectorf<3, 0, 2> a(vec);
-    EXPECT_FLOAT_EQ(a.at<0>(), vec(0));
-    EXPECT_FLOAT_EQ(a.at<2>(), vec(2));
+TEST(sparseVectorTest, initialisationFromVector)
+{
+	const Vector3f vec(1.f, 2.f, 3.f);
+	const SparseVectorf<3, 0, 2> a(vec);
+	EXPECT_FLOAT_EQ(a.at<0>(), vec(0));
+	EXPECT_FLOAT_EQ(a.at<2>(), vec(2));
 }
 
-TEST(sparseVectorTest, accessDataWithCompressedIndices) {
-    const Vector3f vec(1.f, 2.f, 3.f);
-    SparseVectorf<3, 0, 2> a(vec);
-    for (size_t i = 0; i < a.non_zeros(); i++) {
-        a.atCompressedIndex(i) = static_cast<float>(i);
-    }
-    EXPECT_FLOAT_EQ(a.at<0>(), a.atCompressedIndex(0));
-    EXPECT_FLOAT_EQ(a.at<2>(), a.atCompressedIndex(1));
+TEST(sparseVectorTest, accessDataWithCompressedIndices)
+{
+	const Vector3f vec(1.f, 2.f, 3.f);
+	SparseVectorf<3, 0, 2> a(vec);
+
+	for (size_t i = 0; i < a.non_zeros(); i++) {
+		a.atCompressedIndex(i) = static_cast<float>(i);
+	}
+
+	EXPECT_FLOAT_EQ(a.at<0>(), a.atCompressedIndex(0));
+	EXPECT_FLOAT_EQ(a.at<2>(), a.atCompressedIndex(1));
 }
 
-TEST(sparseVectorTest, setZero) {
-    const float data[3] = {1.f, 2.f, 3.f};
-    SparseVectorf<24, 4, 6, 22> a(data);
-    a.setZero();
-    EXPECT_FLOAT_EQ(a.at<4>(), 0.f);
-    EXPECT_FLOAT_EQ(a.at<6>(), 0.f);
-    EXPECT_FLOAT_EQ(a.at<22>(), 0.f);
+TEST(sparseVectorTest, setZero)
+{
+	const float data[3] = {1.f, 2.f, 3.f};
+	SparseVectorf<24, 4, 6, 22> a(data);
+	a.setZero();
+	EXPECT_FLOAT_EQ(a.at<4>(), 0.f);
+	EXPECT_FLOAT_EQ(a.at<6>(), 0.f);
+	EXPECT_FLOAT_EQ(a.at<22>(), 0.f);
 }
 
-TEST(sparseVectorTest, additionWithDenseVector) {
-    Vector<float, 4> dense_vec;
-    dense_vec.setAll(1.f);
-    const float data[3] = {1.f, 2.f, 3.f};
-    const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
-    const Vector<float, 4> res = sparse_vec + dense_vec;
-    EXPECT_FLOAT_EQ(res(0), 1.f);
-    EXPECT_FLOAT_EQ(res(1), 2.f);
-    EXPECT_FLOAT_EQ(res(2), 3.f);
-    EXPECT_FLOAT_EQ(res(3), 4.f);
+TEST(sparseVectorTest, additionWithDenseVector)
+{
+	Vector<float, 4> dense_vec;
+	dense_vec.setAll(1.f);
+	const float data[3] = {1.f, 2.f, 3.f};
+	const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
+	const Vector<float, 4> res = sparse_vec + dense_vec;
+	EXPECT_FLOAT_EQ(res(0), 1.f);
+	EXPECT_FLOAT_EQ(res(1), 2.f);
+	EXPECT_FLOAT_EQ(res(2), 3.f);
+	EXPECT_FLOAT_EQ(res(3), 4.f);
 }
 
-TEST(sparseVectorTest, addScalar) {
-    const float data[3] = {1.f, 2.f, 3.f};
-    SparseVectorf<4, 1, 2, 3> sparse_vec(data);
-    sparse_vec += 2.f;
-    EXPECT_FLOAT_EQ(sparse_vec.at<1>(), 3.f);
-    EXPECT_FLOAT_EQ(sparse_vec.at<2>(), 4.f);
-    EXPECT_FLOAT_EQ(sparse_vec.at<3>(), 5.f);
+TEST(sparseVectorTest, addScalar)
+{
+	const float data[3] = {1.f, 2.f, 3.f};
+	SparseVectorf<4, 1, 2, 3> sparse_vec(data);
+	sparse_vec += 2.f;
+	EXPECT_FLOAT_EQ(sparse_vec.at<1>(), 3.f);
+	EXPECT_FLOAT_EQ(sparse_vec.at<2>(), 4.f);
+	EXPECT_FLOAT_EQ(sparse_vec.at<3>(), 5.f);
 }
 
-TEST(sparseVectorTest, dotProductWithDenseVector) {
-    Vector<float, 4> dense_vec;
-    dense_vec.setAll(3.f);
-    const float data[3] = {1.f, 2.f, 3.f};
-    const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
-    float res = sparse_vec.dot(dense_vec);
-    EXPECT_FLOAT_EQ(res, 18.f);
+TEST(sparseVectorTest, dotProductWithDenseVector)
+{
+	Vector<float, 4> dense_vec;
+	dense_vec.setAll(3.f);
+	const float data[3] = {1.f, 2.f, 3.f};
+	const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
+	float res = sparse_vec.dot(dense_vec);
+	EXPECT_FLOAT_EQ(res, 18.f);
 }
 
-TEST(sparseVectorTest, multiplicationWithDenseMatrix) {
-    Matrix<float, 2, 3> dense_matrix;
-    dense_matrix.setAll(2.f);
-    dense_matrix(1, 1) = 3.f;
-    const Vector3f dense_vec(0.f, 1.f, 5.f);
-    const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
-    const Vector<float, 2> res_sparse = dense_matrix * sparse_vec;
-    const Vector<float, 2> res_dense = dense_matrix * dense_vec;
-    EXPECT_TRUE(isEqual(res_dense, res_sparse));
+TEST(sparseVectorTest, multiplicationWithDenseMatrix)
+{
+	Matrix<float, 2, 3> dense_matrix;
+	dense_matrix.setAll(2.f);
+	dense_matrix(1, 1) = 3.f;
+	const Vector3f dense_vec(0.f, 1.f, 5.f);
+	const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
+	const Vector<float, 2> res_sparse = dense_matrix * sparse_vec;
+	const Vector<float, 2> res_dense = dense_matrix * dense_vec;
+	EXPECT_TRUE(isEqual(res_dense, res_sparse));
 }
 
-TEST(sparseVectorTest, quadraticForm) {
-    float matrix_data[9] = {1, 2, 3,
-                            2, 4, 5,
-                            3, 5, 6
-                           };
-    const SquareMatrix<float, 3> dense_matrix(matrix_data);
-    const Vector3f dense_vec(0.f, 1.f, 5.f);
-    const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
-    EXPECT_FLOAT_EQ(quadraticForm(dense_matrix, sparse_vec), 204.f);
+TEST(sparseVectorTest, quadraticForm)
+{
+	float matrix_data[9] = {1, 2, 3,
+				2, 4, 5,
+				3, 5, 6
+			       };
+	const SquareMatrix<float, 3> dense_matrix(matrix_data);
+	const Vector3f dense_vec(0.f, 1.f, 5.f);
+	const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
+	EXPECT_FLOAT_EQ(quadraticForm(dense_matrix, sparse_vec), 204.f);
 }
 
-TEST(sparseVectorTest, norms) {
-    const float data[2] = {3.f, 4.f};
-    const SparseVectorf<4, 1, 3> sparse_vec(data);
-    EXPECT_FLOAT_EQ(sparse_vec.norm_squared(), 25.f);
-    EXPECT_FLOAT_EQ(sparse_vec.norm(), 5.f);
-    EXPECT_TRUE(sparse_vec.longerThan(4.5f));
-    EXPECT_FALSE(sparse_vec.longerThan(5.5f));
+TEST(sparseVectorTest, norms)
+{
+	const float data[2] = {3.f, 4.f};
+	const SparseVectorf<4, 1, 3> sparse_vec(data);
+	EXPECT_FLOAT_EQ(sparse_vec.norm_squared(), 25.f);
+	EXPECT_FLOAT_EQ(sparse_vec.norm(), 5.f);
+	EXPECT_TRUE(sparse_vec.longerThan(4.5f));
+	EXPECT_FALSE(sparse_vec.longerThan(5.5f));
 }
 
 
-int main(int argc, char **argv) {
-    testing::InitGoogleTest(&argc, argv);
-    std::cout << "Run SparseVector tests" << std::endl;
-    return RUN_ALL_TESTS();
+int main(int argc, char **argv)
+{
+	testing::InitGoogleTest(&argc, argv);
+	std::cout << "Run SparseVector tests" << std::endl;
+	return RUN_ALL_TESTS();
 }

src/lib/matrix/test/squareMatrix.cpp

@@ -6,143 +6,142 @@ using namespace matrix;
 
 int main()
 {
-    float data[9] = {1, 2, 3,
-                     4, 5, 6,
-                     7, 8, 10
-                    };
-    SquareMatrix<float, 3> A(data);
-    Vector3<float> diag_check(1, 5, 10);
+	float data[9] = {1, 2, 3,
+			 4, 5, 6,
+			 7, 8, 10
+			};
+	SquareMatrix<float, 3> A(data);
+	Vector3<float> diag_check(1, 5, 10);
 
-    TEST(isEqual(A.diag(), diag_check));
-    TEST(A.trace() - 16 < FLT_EPSILON);
+	TEST(isEqual(A.diag(), diag_check));
+	TEST(A.trace() - 16 < FLT_EPSILON);
 
-    float data_check[9] = {
-        1.01158503f,  0.02190432f,  0.03238144f,
-        0.04349195f,  1.05428524f,  0.06539627f,
-        0.07576783f,  0.08708946f,  1.10894048f
-    };
+	float data_check[9] = {
+		1.01158503f,  0.02190432f,  0.03238144f,
+		0.04349195f,  1.05428524f,  0.06539627f,
+		0.07576783f,  0.08708946f,  1.10894048f
+	};
 
-    float dt = 0.01f;
-    SquareMatrix<float, 3> eA = expm(SquareMatrix<float, 3>(A*dt), 5);
-    SquareMatrix<float, 3> eA_check(data_check);
-    TEST((eA - eA_check).abs().max() < 1e-3f);
+	float dt = 0.01f;
+	SquareMatrix<float, 3> eA = expm(SquareMatrix<float, 3>(A * dt), 5);
+	SquareMatrix<float, 3> eA_check(data_check);
+	TEST((eA - eA_check).abs().max() < 1e-3f);
 
-    SquareMatrix<float, 2> A_bottomright = A.slice<2,2>(1,1);
-    SquareMatrix<float, 2> A_bottomright2;
-    A_bottomright2 = A.slice<2,2>(1,1);
+	SquareMatrix<float, 2> A_bottomright = A.slice<2, 2>(1, 1);
+	SquareMatrix<float, 2> A_bottomright2;
+	A_bottomright2 = A.slice<2, 2>(1, 1);
 
-    float data_bottomright[4] = {5, 6,
-                                 8, 10
-                                };
-    SquareMatrix<float, 2> bottomright_check(data_bottomright);
-    TEST(isEqual(A_bottomright, bottomright_check));
-    TEST(isEqual(A_bottomright2, bottomright_check));
+	float data_bottomright[4] = {5, 6,
+				     8, 10
+				    };
+	SquareMatrix<float, 2> bottomright_check(data_bottomright);
+	TEST(isEqual(A_bottomright, bottomright_check));
+	TEST(isEqual(A_bottomright2, bottomright_check));
 
-    // test diagonal functions
-    float data_4x4[16] = {1, 2, 3, 4,
-                          5, 6, 7, 8,
-                          9, 10, 11, 12,
-                          13, 14,15, 16
-                         };
+	// test diagonal functions
+	float data_4x4[16] = {1, 2, 3, 4,
+			      5, 6, 7, 8,
+			      9, 10, 11, 12,
+			      13, 14, 15, 16
+			     };
 
-    SquareMatrix<float, 4> B(data_4x4);
-    B.uncorrelateCovariance<1>(1);
-    float data_B_check[16] = {1, 0, 3, 4,
-                              0, 6, 0, 0,
-                              9, 0, 11, 12,
-                              13, 0,15, 16
-                             };
-    SquareMatrix<float, 4> B_check(data_B_check);
-    TEST(isEqual(B, B_check))
+	SquareMatrix<float, 4> B(data_4x4);
+	B.uncorrelateCovariance<1>(1);
+	float data_B_check[16] = {1, 0, 3, 4,
+				  0, 6, 0, 0,
+				  9, 0, 11, 12,
+				  13, 0, 15, 16
+				 };
+	SquareMatrix<float, 4> B_check(data_B_check);
+	TEST(isEqual(B, B_check))
 
-    SquareMatrix<float, 4> C(data_4x4);
-    C.uncorrelateCovariance<2>(1);
-    float data_C_check[16] = {1, 0, 0, 4,
-                              0, 6, 0, 0,
-                              0, 0, 11, 0,
-                              13, 0,0, 16
-                             };
-    SquareMatrix<float, 4> C_check(data_C_check);
-    TEST(isEqual(C, C_check))
+	SquareMatrix<float, 4> C(data_4x4);
+	C.uncorrelateCovariance<2>(1);
+	float data_C_check[16] = {1, 0, 0, 4,
+				  0, 6, 0, 0,
+				  0, 0, 11, 0,
+				  13, 0, 0, 16
+				 };
+	SquareMatrix<float, 4> C_check(data_C_check);
+	TEST(isEqual(C, C_check))
 
-    SquareMatrix<float, 4> D(data_4x4);
-    D.uncorrelateCovarianceSetVariance<2>(0, Vector2f{20,21});
-    float data_D_check[16] = {20, 0, 0, 0,
-                              0, 21, 0, 0,
-                              0, 0, 11, 12,
-                              0, 0,15, 16
-                             };
-    SquareMatrix<float, 4> D_check(data_D_check);
-    TEST(isEqual(D, D_check))
+	SquareMatrix<float, 4> D(data_4x4);
+	D.uncorrelateCovarianceSetVariance<2>(0, Vector2f{20, 21});
+	float data_D_check[16] = {20, 0, 0, 0,
+				  0, 21, 0, 0,
+				  0, 0, 11, 12,
+				  0, 0, 15, 16
+				 };
+	SquareMatrix<float, 4> D_check(data_D_check);
+	TEST(isEqual(D, D_check))
 
-    SquareMatrix<float, 4> E(data_4x4);
-    E.uncorrelateCovarianceSetVariance<3>(1, 33);
-    float data_E_check[16] = {1, 0, 0, 0,
-                              0, 33, 0, 0,
-                              0, 0, 33, 0,
-                              0, 0,0, 33
-                             };
-    SquareMatrix<float, 4> E_check(data_E_check);
-    TEST(isEqual(E, E_check))
+	SquareMatrix<float, 4> E(data_4x4);
+	E.uncorrelateCovarianceSetVariance<3>(1, 33);
+	float data_E_check[16] = {1, 0, 0, 0,
+				  0, 33, 0, 0,
+				  0, 0, 33, 0,
+				  0, 0, 0, 33
+				 };
+	SquareMatrix<float, 4> E_check(data_E_check);
+	TEST(isEqual(E, E_check))
 
-    // test symmetric functions
-    SquareMatrix<float, 4> F(data_4x4);
-    F.makeBlockSymmetric<2>(1);
-    float data_F_check[16] = {1, 2, 3, 4,
-                              5, 6, 8.5, 8,
-                              9, 8.5, 11, 12,
-                              13, 14,15, 16
-                             };
-    SquareMatrix<float, 4> F_check(data_F_check);
-    TEST(isEqual(F, F_check))
-    TEST(F.isBlockSymmetric<2>(1));
-    TEST(!F.isRowColSymmetric<2>(1));
+	// test symmetric functions
+	SquareMatrix<float, 4> F(data_4x4);
+	F.makeBlockSymmetric<2>(1);
+	float data_F_check[16] = {1, 2, 3, 4,
+				  5, 6, 8.5, 8,
+				  9, 8.5, 11, 12,
+				  13, 14, 15, 16
+				 };
+	SquareMatrix<float, 4> F_check(data_F_check);
+	TEST(isEqual(F, F_check))
+	TEST(F.isBlockSymmetric<2>(1));
+	TEST(!F.isRowColSymmetric<2>(1));
 
-    SquareMatrix<float, 4> G(data_4x4);
-    G.makeRowColSymmetric<2>(1);
-    float data_G_check[16] = {1, 3.5, 6, 4,
-                              3.5, 6, 8.5, 11,
-                              6, 8.5, 11, 13.5,
-                              13, 11,13.5, 16
-                             };
-    SquareMatrix<float, 4> G_check(data_G_check);
-    TEST(isEqual(G, G_check));
-    TEST(G.isBlockSymmetric<2>(1));
-    TEST(G.isRowColSymmetric<2>(1));
+	SquareMatrix<float, 4> G(data_4x4);
+	G.makeRowColSymmetric<2>(1);
+	float data_G_check[16] = {1, 3.5, 6, 4,
+				  3.5, 6, 8.5, 11,
+				  6, 8.5, 11, 13.5,
+				  13, 11, 13.5, 16
+				 };
+	SquareMatrix<float, 4> G_check(data_G_check);
+	TEST(isEqual(G, G_check));
+	TEST(G.isBlockSymmetric<2>(1));
+	TEST(G.isRowColSymmetric<2>(1));
 
-    SquareMatrix<float, 4> H(data_4x4);
-    H.makeBlockSymmetric<1>(1);
-    float data_H_check[16] = {1, 2, 3, 4,
-                              5, 6, 7, 8,
-                              9, 10, 11, 12,
-                              13, 14,15, 16
-                             };
-    SquareMatrix<float, 4> H_check(data_H_check);
-    TEST(isEqual(H, H_check))
-    TEST(H.isBlockSymmetric<1>(1));
-    TEST(!H.isRowColSymmetric<1>(1));
+	SquareMatrix<float, 4> H(data_4x4);
+	H.makeBlockSymmetric<1>(1);
+	float data_H_check[16] = {1, 2, 3, 4,
+				  5, 6, 7, 8,
+				  9, 10, 11, 12,
+				  13, 14, 15, 16
+				 };
+	SquareMatrix<float, 4> H_check(data_H_check);
+	TEST(isEqual(H, H_check))
+	TEST(H.isBlockSymmetric<1>(1));
+	TEST(!H.isRowColSymmetric<1>(1));
 
-    SquareMatrix<float, 4> J(data_4x4);
-    J.makeRowColSymmetric<1>(1);
-    float data_J_check[16] = {1, 3.5, 3, 4,
-                              3.5, 6, 8.5, 11,
-                              9, 8.5, 11, 12,
-                              13, 11,15, 16
-                             };
-    SquareMatrix<float, 4> J_check(data_J_check);
-    TEST(isEqual(J, J_check));
-    TEST(J.isBlockSymmetric<1>(1));
-    TEST(J.isRowColSymmetric<1>(1));
-    TEST(!J.isBlockSymmetric<3>(1));
+	SquareMatrix<float, 4> J(data_4x4);
+	J.makeRowColSymmetric<1>(1);
+	float data_J_check[16] = {1, 3.5, 3, 4,
+				  3.5, 6, 8.5, 11,
+				  9, 8.5, 11, 12,
+				  13, 11, 15, 16
+				 };
+	SquareMatrix<float, 4> J_check(data_J_check);
+	TEST(isEqual(J, J_check));
+	TEST(J.isBlockSymmetric<1>(1));
+	TEST(J.isRowColSymmetric<1>(1));
+	TEST(!J.isBlockSymmetric<3>(1));
 
-    float data_K[16] = {1, 2, 3, 4,
-                        2, 3, 4, 11,
-                        3, 4, 11, 12,
-                        4, 11,15, 16
-                       };
-    SquareMatrix<float, 4> K(data_K);
-    TEST(!K.isRowColSymmetric<1>(2));
-    return 0;
+	float data_K[16] = {1, 2, 3, 4,
+			    2, 3, 4, 11,
+			    3, 4, 11, 12,
+			    4, 11, 15, 16
+			   };
+	SquareMatrix<float, 4> K(data_K);
+	TEST(!K.isRowColSymmetric<1>(2));
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/test_data.py

@@ -145,5 +145,3 @@ print('b:')
 pprint(b)
 print('x:')
 pprint(x)
-
-# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=8 : 

src/lib/matrix/test/transpose.cpp

@@ -6,14 +6,13 @@ using namespace matrix;
 
 int main()
 {
-    float data[6] = {1, 2, 3, 4, 5, 6};
-    Matrix<float, 2, 3> A(data);
-    Matrix<float, 3, 2> A_T = A.transpose();
-    float data_check[6] = {1, 4, 2, 5, 3, 6};
-    Matrix<float, 3, 2> A_T_check(data_check);
-    TEST(isEqual(A_T, A_T_check));
+	float data[6] = {1, 2, 3, 4, 5, 6};
+	Matrix<float, 2, 3> A(data);
+	Matrix<float, 3, 2> A_T = A.transpose();
+	float data_check[6] = {1, 4, 2, 5, 3, 6};
+	Matrix<float, 3, 2> A_T_check(data_check);
+	TEST(isEqual(A_T, A_T_check));
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/upperRightTriangle.cpp

@@ -5,19 +5,18 @@ using namespace matrix;
 
 int main()
 {
-    float data[9] = {1, 2, 3,
-                     4, 5, 6,
-                     7, 8, 10
-                    };
-    float urt[6] = {1, 2, 3, 5, 6, 10};
+	float data[9] = {1, 2, 3,
+			 4, 5, 6,
+			 7, 8, 10
+			};
+	float urt[6] = {1, 2, 3, 5, 6, 10};
 
-    SquareMatrix<float, 3> A(data);
+	SquareMatrix<float, 3> A(data);
 
-    for(size_t i=0; i<6; i++) {
-        TEST(fabs(urt[i] - A.upper_right_triangle()(i)) < FLT_EPSILON);
-    }
+	for (size_t i = 0; i < 6; i++) {
+		TEST(fabs(urt[i] - A.upper_right_triangle()(i)) < FLT_EPSILON);
+	}
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/vector.cpp

@@ -6,43 +6,42 @@ using namespace matrix;
 
 int main()
 {
-    // test data
-    float data1[] = {1,2,3,4,5};
-    float data2[] = {6,7,8,9,10};
-    Vector<float, 5> v1(data1);
-    Vector<float, 5> v2(data2);
+	// test data
+	float data1[] = {1, 2, 3, 4, 5};
+	float data2[] = {6, 7, 8, 9, 10};
+	Vector<float, 5> v1(data1);
+	Vector<float, 5> v2(data2);
 
-    // copy constructor
-    Vector<float, 5> v3(v2);
-    TEST(isEqual(v2, v3));
+	// copy constructor
+	Vector<float, 5> v3(v2);
+	TEST(isEqual(v2, v3));
 
-    // norm, dot product
-    TEST(isEqualF(v1.norm(), 7.416198487095663f));
-    TEST(isEqualF(v1.norm_squared(), v1.norm() * v1.norm()));
-    TEST(isEqualF(v1.norm(), v1.length()));
-    TEST(isEqualF(v1.dot(v2), 130.0f));
-    TEST(isEqualF(v1.dot(v2), v1 * v2));
+	// norm, dot product
+	TEST(isEqualF(v1.norm(), 7.416198487095663f));
+	TEST(isEqualF(v1.norm_squared(), v1.norm() * v1.norm()));
+	TEST(isEqualF(v1.norm(), v1.length()));
+	TEST(isEqualF(v1.dot(v2), 130.0f));
+	TEST(isEqualF(v1.dot(v2), v1 * v2));
 
-    // unit, unit_zero, normalize
-    TEST(isEqualF(v2.unit().norm(), 1.f));
-    TEST(isEqualF(v2.unit_or_zero().norm(), 1.f));
-    TEST(isEqualF(Vector<float, 5>().unit_or_zero().norm(), 0.f));
-    v2.normalize();
-    TEST(isEqualF(v2.norm(), 1.f));
+	// unit, unit_zero, normalize
+	TEST(isEqualF(v2.unit().norm(), 1.f));
+	TEST(isEqualF(v2.unit_or_zero().norm(), 1.f));
+	TEST(isEqualF(Vector<float, 5>().unit_or_zero().norm(), 0.f));
+	v2.normalize();
+	TEST(isEqualF(v2.norm(), 1.f));
 
-    // sqrt
-    float data1_sq[] = {1,4,9,16,25};
-    Vector<float, 5> v4(data1_sq);
-    TEST(isEqual(v1, v4.sqrt()));
+	// sqrt
+	float data1_sq[] = {1, 4, 9, 16, 25};
+	Vector<float, 5> v4(data1_sq);
+	TEST(isEqual(v1, v4.sqrt()));
 
-    // longerThan
-    Vector<float, 2> v5;
-    v5(0) = 3;
-    v5(1) = 4;
-    TEST(v5.longerThan(4.99f));
-    TEST(!v5.longerThan(5.f));
+	// longerThan
+	Vector<float, 2> v5;
+	v5(0) = 3;
+	v5(1) = 4;
+	TEST(v5.longerThan(4.99f));
+	TEST(!v5.longerThan(5.f));
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/vector2.cpp

@@ -8,33 +8,32 @@ using namespace matrix;
 
 int main()
 {
-    Vector2f a(1, 0);
-    Vector2f b(0, 1);
-    TEST(fabs(a % b - 1.0f) < FLT_EPSILON);
+	Vector2f a(1, 0);
+	Vector2f b(0, 1);
+	TEST(fabs(a % b - 1.0f) < FLT_EPSILON);
 
-    Vector2f c;
-    TEST(fabs(c(0) - 0) < FLT_EPSILON);
-    TEST(fabs(c(1) - 0) < FLT_EPSILON);
+	Vector2f c;
+	TEST(fabs(c(0) - 0) < FLT_EPSILON);
+	TEST(fabs(c(1) - 0) < FLT_EPSILON);
 
-    Matrix<float, 2, 1> d(a);
-    TEST(fabs(d(0,0) - 1) < FLT_EPSILON);
-    TEST(fabs(d(1,0) - 0) < FLT_EPSILON);
+	Matrix<float, 2, 1> d(a);
+	TEST(fabs(d(0, 0) - 1) < FLT_EPSILON);
+	TEST(fabs(d(1, 0) - 0) < FLT_EPSILON);
 
-    Vector2f e(d);
-    TEST(fabs(e(0) - 1) < FLT_EPSILON);
-    TEST(fabs(e(1) - 0) < FLT_EPSILON);
+	Vector2f e(d);
+	TEST(fabs(e(0) - 1) < FLT_EPSILON);
+	TEST(fabs(e(1) - 0) < FLT_EPSILON);
 
-    float data[] = {4,5};
-    Vector2f f(data);
-    TEST(fabs(f(0) - 4) < FLT_EPSILON);
-    TEST(fabs(f(1) - 5) < FLT_EPSILON);
+	float data[] = {4, 5};
+	Vector2f f(data);
+	TEST(fabs(f(0) - 4) < FLT_EPSILON);
+	TEST(fabs(f(1) - 5) < FLT_EPSILON);
 
-    Vector3f g(1.23f, 423.4f, 3221.f);
-    Vector2f h(g);
-    TEST(fabs(h(0) - 1.23f) < FLT_EPSILON);
-    TEST(fabs(h(1) - 423.4f) < FLT_EPSILON);
+	Vector3f g(1.23f, 423.4f, 3221.f);
+	Vector2f h(g);
+	TEST(fabs(h(0) - 1.23f) < FLT_EPSILON);
+	TEST(fabs(h(1) - 423.4f) < FLT_EPSILON);
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/vector3.cpp

@@ -6,56 +6,55 @@ using namespace matrix;
 
 int main()
 {
-    Vector3f a(1, 0, 0);
-    Vector3f b(0, 1, 0);
-    Vector3f c = a.cross(b);
-    TEST(isEqual(c, Vector3f(0,0,1)));
-    c = a % b;
-    TEST(isEqual(c, Vector3f(0,0,1)));
-    Matrix<float, 3, 1> d(c);
-    Vector3f e(d);
-    TEST(isEqual(e, d));
-    float data[] = {4, 5, 6};
-    Vector3f f(data);
-    TEST(isEqual(f, Vector3f(4, 5, 6)));
+	Vector3f a(1, 0, 0);
+	Vector3f b(0, 1, 0);
+	Vector3f c = a.cross(b);
+	TEST(isEqual(c, Vector3f(0, 0, 1)));
+	c = a % b;
+	TEST(isEqual(c, Vector3f(0, 0, 1)));
+	Matrix<float, 3, 1> d(c);
+	Vector3f e(d);
+	TEST(isEqual(e, d));
+	float data[] = {4, 5, 6};
+	Vector3f f(data);
+	TEST(isEqual(f, Vector3f(4, 5, 6)));
 
-    TEST(isEqual(a + b, Vector3f(1, 1, 0)));
-    TEST(isEqual(a - b, Vector3f(1, -1, 0)));
-    TEST(isEqualF(a * b, 0.0f));
-    TEST(isEqual(-a, Vector3f(-1, 0, 0)));
-    TEST(isEqual(a.unit(), a));
-    TEST(isEqual(a.unit(), a.normalized()));
-    TEST(isEqual(a*2.0, Vector3f(2, 0, 0)));
+	TEST(isEqual(a + b, Vector3f(1, 1, 0)));
+	TEST(isEqual(a - b, Vector3f(1, -1, 0)));
+	TEST(isEqualF(a * b, 0.0f));
+	TEST(isEqual(-a, Vector3f(-1, 0, 0)));
+	TEST(isEqual(a.unit(), a));
+	TEST(isEqual(a.unit(), a.normalized()));
+	TEST(isEqual(a * 2.0, Vector3f(2, 0, 0)));
 
-    Vector2f g2(1,3);
-    Vector3f g3(7, 11, 17);
-    g3.xy() = g2;
-    TEST(isEqual(g3, Vector3f(1, 3, 17)));
+	Vector2f g2(1, 3);
+	Vector3f g3(7, 11, 17);
+	g3.xy() = g2;
+	TEST(isEqual(g3, Vector3f(1, 3, 17)));
 
-    const Vector3f g4(g3);
-    Vector2f g5 = g4.xy();
-    TEST(isEqual(g5,g2));
-    TEST(isEqual(g2,Vector2f(g4.xy())));
+	const Vector3f g4(g3);
+	Vector2f g5 = g4.xy();
+	TEST(isEqual(g5, g2));
+	TEST(isEqual(g2, Vector2f(g4.xy())));
 
-    Vector3f h;
-    TEST(isEqual(h,Vector3f(0,0,0)));
+	Vector3f h;
+	TEST(isEqual(h, Vector3f(0, 0, 0)));
 
-    Vector<float, 4> j;
-    j(0) = 1;
-    j(1) = 2;
-    j(2) = 3;
-    j(3) = 4;
+	Vector<float, 4> j;
+	j(0) = 1;
+	j(1) = 2;
+	j(2) = 3;
+	j(3) = 4;
 
-    Vector3f k = j.slice<3,1>(0,0);
-    Vector3f k_test(1,2,3);
-    TEST(isEqual(k,k_test));
+	Vector3f k = j.slice<3, 1>(0, 0);
+	Vector3f k_test(1, 2, 3);
+	TEST(isEqual(k, k_test));
 
-    Vector3f m1(1, 2, 3);
-    Vector3f m2(3.1f, 4.1f, 5.1f);
-    TEST(isEqual(m2, m1 + 2.1f));
-    TEST(isEqual(m2 - 2.1f, m1));
+	Vector3f m1(1, 2, 3);
+	Vector3f m2(3.1f, 4.1f, 5.1f);
+	TEST(isEqual(m2, m1 + 2.1f));
+	TEST(isEqual(m2 - 2.1f, m1));
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

src/lib/matrix/test/vectorAssignment.cpp

@@ -6,29 +6,28 @@ using namespace matrix;
 
 int main()
 {
-    Vector3f v;
-    v(0) = 1;
-    v(1) = 2;
-    v(2) = 3;
+	Vector3f v;
+	v(0) = 1;
+	v(1) = 2;
+	v(2) = 3;
 
-    static const float eps = 1e-7f;
+	static const float eps = 1e-7f;
 
-    TEST(fabs(v(0) - 1) < eps);
-    TEST(fabs(v(1) - 2) < eps);
-    TEST(fabs(v(2) - 3) < eps);
+	TEST(fabs(v(0) - 1) < eps);
+	TEST(fabs(v(1) - 2) < eps);
+	TEST(fabs(v(2) - 3) < eps);
 
-    Vector3f v2(4, 5, 6);
+	Vector3f v2(4, 5, 6);
 
-    TEST(fabs(v2(0) - 4) < eps);
-    TEST(fabs(v2(1) - 5) < eps);
-    TEST(fabs(v2(2) - 6) < eps);
+	TEST(fabs(v2(0) - 4) < eps);
+	TEST(fabs(v2(1) - 5) < eps);
+	TEST(fabs(v2(2) - 6) < eps);
 
-    SquareMatrix<float, 3> m = diag(Vector3f(1,2,3));
-    TEST(fabs(m(0, 0) - 1) < eps);
-    TEST(fabs(m(1, 1) - 2) < eps);
-    TEST(fabs(m(2, 2) - 3) < eps);
+	SquareMatrix<float, 3> m = diag(Vector3f(1, 2, 3));
+	TEST(fabs(m(0, 0) - 1) < eps);
+	TEST(fabs(m(1, 1) - 2) < eps);
+	TEST(fabs(m(2, 2) - 3) < eps);
 
-    return 0;
+	return 0;
 }
 
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */