Updating vector class, cleanup & rebasing

  - updating the vector class
  - clean up of project files
  - rebasing folder to code updates on previous commits

  method for cross produect provided by Gurleen Kaur

signed-off-by: Ramasamy <ram.kannan@samsung.com>
Change-Id: I9417c85f7e5b656e592772afee7b1e6f4fc1abe2

diff --git a/src/sensor_fusion/standalone/util/matrix.h b/src/sensor_fusion/standalone/util/matrix.h
index 0f01f5e..1a49c2f 100755 (executable)
--- a/src/sensor_fusion/standalone/util/matrix.h
+++ b/src/sensor_fusion/standalone/util/matrix.h
@@ -59,6 +59,7 @@ public:
                        const matrix<T> m2);
        template<typename T> friend bool operator !=(const matrix<T> m1,
                        const matrix<T> m2);
+
        template<typename T> friend matrix<T> transpose(const matrix<T> m);
 };
 

diff --git a/src/sensor_fusion/standalone/util/test/matrix_test/matrix_main.cpp b/src/sensor_fusion/standalone/util/test/matrix_test/matrix_main.cpp
index 3fc2fd6..82a4da0 100644 (file)
--- a/src/sensor_fusion/standalone/util/test/matrix_test/matrix_main.cpp
+++ b/src/sensor_fusion/standalone/util/test/matrix_test/matrix_main.cpp
@@ -143,4 +143,5 @@ int main()
        m3 = m12;
        cout<< "Input \n" << m12;
        cout<< "\nOutput:\n" << m3 << endl;
+
 }

diff --git a/src/sensor_fusion/standalone/util/test/orientation_filter_test/.cproject b/src/sensor_fusion/standalone/util/test/orientation_filter_test/.cproject
index c9958ee..4ebc742 100644 (file)
--- a/src/sensor_fusion/standalone/util/test/orientation_filter_test/.cproject
+++ b/src/sensor_fusion/standalone/util/test/orientation_filter_test/.cproject
@@ -18,7 +18,7 @@
                                        <folderInfo id="cdt.managedbuild.config.gnu.exe.debug.1985721554." name="/" resourcePath="">
                                                <toolChain id="cdt.managedbuild.toolchain.gnu.exe.debug.1241765326" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.exe.debug">
                                                        <targetPlatform id="cdt.managedbuild.target.gnu.platform.exe.debug.860242012" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.exe.debug"/>
-                                                       <builder buildPath="${workspace_loc:/orientation_filter_main/Debug}" id="cdt.managedbuild.target.gnu.builder.exe.debug.934923741" managedBuildOn="true" name="Gnu Make Builder.Debug" superClass="cdt.managedbuild.target.gnu.builder.exe.debug"/>
+                                                       <builder buildPath="${workspace_loc:/orientation_filter_test/Debug}" id="cdt.managedbuild.target.gnu.builder.exe.debug.934923741" managedBuildOn="true" name="Gnu Make Builder.Debug" superClass="cdt.managedbuild.target.gnu.builder.exe.debug"/>
                                                        <tool id="cdt.managedbuild.tool.gnu.archiver.base.889866382" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
                                                        <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug.1782918544" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.exe.debug">
                                                                <option id="gnu.cpp.compiler.exe.debug.option.optimization.level.1517134268" superClass="gnu.cpp.compiler.exe.debug.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
@@ -63,7 +63,7 @@
                                        <folderInfo id="cdt.managedbuild.config.gnu.exe.release.907439216." name="/" resourcePath="">
                                                <toolChain id="cdt.managedbuild.toolchain.gnu.exe.release.855226350" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.exe.release">
                                                        <targetPlatform id="cdt.managedbuild.target.gnu.platform.exe.release.1334312457" name="Debug Platform" superClass="cdt.managedbuild.target.gnu.platform.exe.release"/>
-                                                       <builder buildPath="${workspace_loc:/orientation_filter_main/Release}" id="cdt.managedbuild.target.gnu.builder.exe.release.1067012518" managedBuildOn="true" name="Gnu Make Builder.Release" superClass="cdt.managedbuild.target.gnu.builder.exe.release"/>
+                                                       <builder buildPath="${workspace_loc:/orientation_filter_test/Release}" id="cdt.managedbuild.target.gnu.builder.exe.release.1067012518" managedBuildOn="true" name="Gnu Make Builder.Release" superClass="cdt.managedbuild.target.gnu.builder.exe.release"/>
                                                        <tool id="cdt.managedbuild.tool.gnu.archiver.base.1799951387" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
                                                        <tool id="cdt.managedbuild.tool.gnu.cpp.compiler.exe.release.1064875116" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.exe.release">
                                                                <option id="gnu.cpp.compiler.exe.release.option.optimization.level.366404287" superClass="gnu.cpp.compiler.exe.release.option.optimization.level" value="gnu.cpp.compiler.optimization.level.most" valueType="enumerated"/>
@@ -92,7 +92,7 @@
                </cconfiguration>
        </storageModule>
        <storageModule moduleId="cdtBuildSystem" version="4.0.0">
-               <project id="orientation_filter_main.cdt.managedbuild.target.gnu.exe.1552177428" name="Executable" projectType="cdt.managedbuild.target.gnu.exe"/>
+               <project id="orientation_filter_test.cdt.managedbuild.target.gnu.exe.1552177428" name="Executable" projectType="cdt.managedbuild.target.gnu.exe"/>
        </storageModule>
        <storageModule moduleId="scannerConfiguration">
                <autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>

diff --git a/src/sensor_fusion/standalone/util/test/orientation_filter_test/.project b/src/sensor_fusion/standalone/util/test/orientation_filter_test/.project
index 7e048f5..a106375 100644 (file)
--- a/src/sensor_fusion/standalone/util/test/orientation_filter_test/.project
+++ b/src/sensor_fusion/standalone/util/test/orientation_filter_test/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-       <name>orientation_filter_main</name>
+       <name>orientation_filter_test</name>
        <comment></comment>
        <projects>
        </projects>
@@ -31,7 +31,7 @@
                                </dictionary>
                                <dictionary>
                                        <key>org.eclipse.cdt.make.core.buildLocation</key>
-                                       <value>${workspace_loc:/orientation_filter_main/Debug}</value>
+                                       <value>${workspace_loc:/orientation_filter_test/Debug}</value>
                                </dictionary>
                                <dictionary>
                                        <key>org.eclipse.cdt.make.core.cleanBuildTarget</key>

diff --git a/src/sensor_fusion/standalone/util/test/vector_test/vector_main.cpp b/src/sensor_fusion/standalone/util/test/vector_test/vector_main.cpp
index 8e46ab2..98e37e6 100644 (file)
--- a/src/sensor_fusion/standalone/util/test/vector_test/vector_main.cpp
+++ b/src/sensor_fusion/standalone/util/test/vector_test/vector_main.cpp
@@ -152,5 +152,11 @@ int main()
        v3 = v1;
        cout<< "Input \n" << v1;
        cout<< "\nOutput:\n" << v3 << endl;
+
+
+       vector<float> v111 = cross(v21, v22);
+       cout<< "\n\n\nCross Product:";
+       cout << "\n\n" << v21 << "\n\n" << v22;
+       cout << "\nResult:\n\n" << v111;
 }
 

diff --git a/src/sensor_fusion/standalone/util/vector.cpp b/src/sensor_fusion/standalone/util/vector.cpp
index 3a572fc..2350294 100644 (file)
--- a/src/sensor_fusion/standalone/util/vector.cpp
+++ b/src/sensor_fusion/standalone/util/vector.cpp
@@ -260,5 +260,17 @@ T mul(const vector<T> v, const matrix<T> m)
        return result;
 }
 
+template <typename T>
+vector<T> cross(const vector<T> v1, const vector<T> v2)
+{
+       vector<T> v3(v1.m_size);
+
+       v3.m_vec[0] = ((v1.m_vec[1] * v2.m_vec[2]) - (v1.m_vec[2] * v2.m_vec[1]));
+       v3.m_vec[1] = ((v1.m_vec[2] * v2.m_vec[0]) - (v1.m_vec[0] * v2.m_vec[2]));
+       v3.m_vec[2] = ((v1.m_vec[0] * v2.m_vec[1]) - (v1.m_vec[1] * v2.m_vec[0]));
+
+       return v3;
+}
+
 #endif
 

diff --git a/src/sensor_fusion/standalone/util/vector.h b/src/sensor_fusion/standalone/util/vector.h
index 772109d..cdbb328 100644 (file)
--- a/src/sensor_fusion/standalone/util/vector.h
+++ b/src/sensor_fusion/standalone/util/vector.h
@@ -61,6 +61,8 @@ public:
 
        template<typename T> friend T mul(const vector<T> v, const matrix<T> m);
        template<typename T> friend matrix<T> transpose(const vector<T> v);
+       template<typename T> friend vector<T> cross(const vector<T> v1,
+                       const vector<T> v2);
 };
 
 #include "vector.cpp"