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Reformat of math library with astyle.

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This commit is contained in:
jgoppert
2013-01-06 15:33:55 -05:00
parent 4f3b17f53b
commit d9491b20cc
19 changed files with 1432 additions and 1453 deletions
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apps/systemlib/math/EulerAngles.cpp
+47 -49
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@@ -48,48 +48,46 @@ namespace math
{
EulerAngles::EulerAngles() :
Vector(3)
Vector(3)
{
setPhi(0.0f);
setTheta(0.0f);
setPsi(0.0f);
setPhi(0.0f);
setTheta(0.0f);
setPsi(0.0f);
}
EulerAngles::EulerAngles(float phi, float theta, float psi) :
Vector(3)
Vector(3)
{
setPhi(phi);
setTheta(theta);
setPsi(psi);
setPhi(phi);
setTheta(theta);
setPsi(psi);
}
EulerAngles::EulerAngles(const Quaternion & q) :
Vector(3)
EulerAngles::EulerAngles(const Quaternion &q) :
Vector(3)
{
(*this) = EulerAngles(Dcm(q));
(*this) = EulerAngles(Dcm(q));
}
EulerAngles::EulerAngles(const Dcm & dcm) :
Vector(3)
EulerAngles::EulerAngles(const Dcm &dcm) :
Vector(3)
{
setTheta(asinf(-dcm(2,0)));
if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f)
{
setPhi(0.0f);
setPsi(atan2f(dcm(1,2) - dcm(0,1),
dcm(0,2) + dcm(1,1)) + getPhi());
}
else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f)
{
setPhi(0.0f);
setPsi(atan2f(dcm(1,2) - dcm(0,1),
dcm(0,2) + dcm(1,1)) - getPhi());
}
else
{
setPhi(atan2f(dcm(2,1),dcm(2,2)));
setPsi(atan2f(dcm(1,0),dcm(0,0)));
}
setTheta(asinf(-dcm(2, 0)));
if (fabsf(getTheta() - M_PI_2_F) < 1.0e-3f) {
setPhi(0.0f);
setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1)) + getPhi());
} else if (fabsf(getTheta() + M_PI_2_F) < 1.0e-3f) {
setPhi(0.0f);
setPsi(atan2f(dcm(1, 2) - dcm(0, 1),
dcm(0, 2) + dcm(1, 1)) - getPhi());
} else {
setPhi(atan2f(dcm(2, 1), dcm(2, 2)));
setPsi(atan2f(dcm(1, 0), dcm(0, 0)));
}
}
EulerAngles::~EulerAngles()
@@ -98,27 +96,27 @@ EulerAngles::~EulerAngles()
int __EXPORT eulerAnglesTest()
{
printf("Test EulerAngles\t: ");
EulerAngles euler(1,2,3);
printf("Test EulerAngles\t: ");
EulerAngles euler(1, 2, 3);
// test ctor
ASSERT(vectorEqual(Vector3(1,2,3),euler));
ASSERT(equal(euler.getPhi(),1));
ASSERT(equal(euler.getTheta(),2));
ASSERT(equal(euler.getPsi(),3));
// test ctor
ASSERT(vectorEqual(Vector3(1, 2, 3), euler));
ASSERT(equal(euler.getPhi(), 1));
ASSERT(equal(euler.getTheta(), 2));
ASSERT(equal(euler.getPsi(), 3));
// test dcm ctor
// test dcm ctor
// test assignment
euler.setPhi(4);
ASSERT(equal(euler.getPhi(),4));
euler.setTheta(5);
ASSERT(equal(euler.getTheta(),5));
euler.setPsi(6);
ASSERT(equal(euler.getPsi(),6));
printf("PASS\n");
return 0;
// test assignment
euler.setPhi(4);
ASSERT(equal(euler.getPhi(), 4));
euler.setTheta(5);
ASSERT(equal(euler.getTheta(), 5));
euler.setPsi(6);
ASSERT(equal(euler.getPsi(), 6));
printf("PASS\n");
return 0;
}
} // namespace math