From 1d4c6728c25f0e1cac92da50cbe51e5bfbd8b2c6 Mon Sep 17 00:00:00 2001 From: Ramasamy Date: Thu, 14 Aug 2014 14:49:38 +0530 Subject: [PATCH] Changing all 'Vector' Class references to 'vect' Changing all class name references 'Vector' to 'vect' as std library already has definition for 'Vector' and causes compiler errors. signed-off-by: Ramasamy Change-Id: Idec973fb771e60ef5675e6759de7a83f4f18807f --- src/sensor_fusion/euler_angles.cpp | 4 +- src/sensor_fusion/euler_angles.h | 4 +- src/sensor_fusion/orientation_filter.cpp | 28 ++++----- src/sensor_fusion/orientation_filter.h | 20 +++---- src/sensor_fusion/quaternion.cpp | 4 +- src/sensor_fusion/quaternion.h | 4 +- src/sensor_fusion/sensor_data.cpp | 4 +- src/sensor_fusion/sensor_data.h | 4 +- .../test/euler_angles_test/euler_angles_main.cpp | 8 +-- .../test/quaternion_test/quaternion_main.cpp | 4 +- .../test/sensor_data_test/sensor_data_main.cpp | 2 +- .../standalone/test/vector_test/vector_main.cpp | 30 +++++----- src/sensor_fusion/vector.cpp | 68 +++++++++++----------- src/sensor_fusion/vector.h | 60 +++++++++---------- 14 files changed, 122 insertions(+), 122 deletions(-) diff --git a/src/sensor_fusion/euler_angles.cpp b/src/sensor_fusion/euler_angles.cpp index 4241788..c668318 100644 --- a/src/sensor_fusion/euler_angles.cpp +++ b/src/sensor_fusion/euler_angles.cpp @@ -34,12 +34,12 @@ euler_angles::euler_angles(const TYPE roll, const TYPE pitch, const TYPE y { TYPE euler_data[EULER_SIZE] = {roll, pitch, yaw}; - vector v(EULER_SIZE, euler_data); + vect v(EULER_SIZE, euler_data); m_ang = v; } template -euler_angles::euler_angles(const vector v) +euler_angles::euler_angles(const vect v) { m_ang = v; } diff --git a/src/sensor_fusion/euler_angles.h b/src/sensor_fusion/euler_angles.h index bafe8df..69fe0dd 100644 --- a/src/sensor_fusion/euler_angles.h +++ b/src/sensor_fusion/euler_angles.h @@ -26,11 +26,11 @@ template class euler_angles { public: - vector m_ang; + vect m_ang; euler_angles(); euler_angles(const TYPE roll, const TYPE pitch, const TYPE yaw); - euler_angles(const vector v); + euler_angles(const vect v); euler_angles(const euler_angles& e); ~euler_angles(); diff --git a/src/sensor_fusion/orientation_filter.cpp b/src/sensor_fusion/orientation_filter.cpp index 0cdb7fd..6acc52f 100644 --- a/src/sensor_fusion/orientation_filter.cpp +++ b/src/sensor_fusion/orientation_filter.cpp @@ -73,9 +73,9 @@ orientation_filter::orientation_filter() std::fill_n(arr, MOVING_AVERAGE_WINDOW_LENGTH, NON_ZERO_VAL); - vector vec(MOVING_AVERAGE_WINDOW_LENGTH, arr); - vector vec1x3(V1x3S); - vector vec1x6(V1x6S); + vect vec(MOVING_AVERAGE_WINDOW_LENGTH, arr); + vect vec1x3(V1x3S); + vect vec1x6(V1x6S); matrix mat6x6(M6X6R, M6X6C); m_var_gyr_x = vec; @@ -113,10 +113,10 @@ inline void orientation_filter::filter_sensor_data(const sensor_data TYPE a_bias[] = {BIAS_AX, BIAS_AY, BIAS_AZ}; TYPE g_bias[] = {BIAS_GX, BIAS_GY, BIAS_GZ}; - vector acc_data(V1x3S); - vector gyr_data(V1x3S); - vector acc_bias(V1x3S, a_bias); - vector gyr_bias(V1x3S, g_bias); + vect acc_data(V1x3S); + vect gyr_data(V1x3S); + vect acc_bias(V1x3S, a_bias); + vect gyr_bias(V1x3S, g_bias); acc_data = accel.m_data - acc_bias; gyr_data = (gyro.m_data - gyr_bias) / (TYPE) SCALE_GYRO; @@ -154,14 +154,14 @@ inline void orientation_filter::orientation_triad_algorithm() TYPE arr_acc_e[V1x3S] = {0.0, 0.0, 1.0}; TYPE arr_mag_e[V1x3S] = {0.0, -1.0, 0.0}; - vector acc_e(V1x3S, arr_acc_e); - vector mag_e(V1x3S, arr_mag_e); + vect acc_e(V1x3S, arr_acc_e); + vect mag_e(V1x3S, arr_mag_e); - vector acc_b_x_mag_b = cross(m_filt_accel[1].m_data, m_filt_magnetic[1].m_data); - vector acc_e_x_mag_e = cross(acc_e, mag_e); + vect acc_b_x_mag_b = cross(m_filt_accel[1].m_data, m_filt_magnetic[1].m_data); + vect acc_e_x_mag_e = cross(acc_e, mag_e); - vector cross1 = cross(acc_b_x_mag_b, m_filt_accel[1].m_data); - vector cross2 = cross(acc_e_x_mag_e, acc_e); + vect cross1 = cross(acc_b_x_mag_b, m_filt_accel[1].m_data); + vect cross2 = cross(acc_e_x_mag_e, acc_e); matrix mat_b(M3X3R, M3X3C); matrix mat_e(M3X3R, M3X3C); @@ -312,7 +312,7 @@ inline void orientation_filter::measurement_update() m_state_old = m_state_new; TYPE arr_bias[V1x3S] = {m_state_new.m_vec[3], m_state_new.m_vec[4], m_state_new.m_vec[5]}; - vector vec(V1x3S, arr_bias); + vect vec(V1x3S, arr_bias); m_bias_correction = vec; } diff --git a/src/sensor_fusion/orientation_filter.h b/src/sensor_fusion/orientation_filter.h index 6f9ce37..de07af9 100644 --- a/src/sensor_fusion/orientation_filter.h +++ b/src/sensor_fusion/orientation_filter.h @@ -33,21 +33,21 @@ public: sensor_data m_filt_accel[2]; sensor_data m_filt_gyro[2]; sensor_data m_filt_magnetic[2]; - vector m_var_gyr_x; - vector m_var_gyr_y; - vector m_var_gyr_z; - vector m_var_roll; - vector m_var_pitch; - vector m_var_yaw; + vect m_var_gyr_x; + vect m_var_gyr_y; + vect m_var_gyr_z; + vect m_var_roll; + vect m_var_pitch; + vect m_var_yaw; matrix m_driv_cov; matrix m_aid_cov; matrix m_tran_mat; matrix m_measure_mat; matrix m_pred_cov; - vector m_state_new; - vector m_state_old; - vector m_state_error; - vector m_bias_correction; + vect m_state_new; + vect m_state_old; + vect m_state_error; + vect m_bias_correction; quaternion m_quat_aid; quaternion m_quat_driv; rotation_matrix m_rot_matrix; diff --git a/src/sensor_fusion/quaternion.cpp b/src/sensor_fusion/quaternion.cpp index 2649f73..5a9148a 100755 --- a/src/sensor_fusion/quaternion.cpp +++ b/src/sensor_fusion/quaternion.cpp @@ -33,12 +33,12 @@ quaternion::quaternion(const TYPE w, const TYPE x, const TYPE y, const TYP { TYPE vec_data[QUAT_SIZE] = {w, x, y, z}; - vector v(QUAT_SIZE, vec_data); + vect v(QUAT_SIZE, vec_data); m_quat = v; } template -quaternion::quaternion(const vector v) +quaternion::quaternion(const vect v) { m_quat = v; } diff --git a/src/sensor_fusion/quaternion.h b/src/sensor_fusion/quaternion.h index 6be945c..90ce4e8 100755 --- a/src/sensor_fusion/quaternion.h +++ b/src/sensor_fusion/quaternion.h @@ -25,11 +25,11 @@ template class quaternion { public: - vector m_quat; + vect m_quat; quaternion(); quaternion(const TYPE w, const TYPE x, const TYPE y, const TYPE z); - quaternion(const vector v); + quaternion(const vect v); quaternion(const quaternion& q); ~quaternion(); diff --git a/src/sensor_fusion/sensor_data.cpp b/src/sensor_fusion/sensor_data.cpp index 2671be9..72b9395 100644 --- a/src/sensor_fusion/sensor_data.cpp +++ b/src/sensor_fusion/sensor_data.cpp @@ -34,13 +34,13 @@ sensor_data::sensor_data(const TYPE x, const TYPE y, { TYPE vec_data[SENSOR_DATA_SIZE] = {x, y, z}; - vector v(SENSOR_DATA_SIZE, vec_data); + vect v(SENSOR_DATA_SIZE, vec_data); m_data = v; m_time_stamp = time_stamp; } template -sensor_data::sensor_data(const vector v, +sensor_data::sensor_data(const vect v, const unsigned long long time_stamp = 0) { m_data = v; diff --git a/src/sensor_fusion/sensor_data.h b/src/sensor_fusion/sensor_data.h index c24c564..4c84bd9 100644 --- a/src/sensor_fusion/sensor_data.h +++ b/src/sensor_fusion/sensor_data.h @@ -25,13 +25,13 @@ template class sensor_data { public: - vector m_data; + vect m_data; unsigned long long m_time_stamp; sensor_data(); sensor_data(const TYPE x, const TYPE y, const TYPE z, const unsigned long long time_stamp); - sensor_data(const vector v, + sensor_data(const vect v, const unsigned long long time_stamp); sensor_data(const sensor_data& s); ~sensor_data(); diff --git a/src/sensor_fusion/standalone/test/euler_angles_test/euler_angles_main.cpp b/src/sensor_fusion/standalone/test/euler_angles_test/euler_angles_main.cpp index 5e29ce0..06e449d 100644 --- a/src/sensor_fusion/standalone/test/euler_angles_test/euler_angles_main.cpp +++ b/src/sensor_fusion/standalone/test/euler_angles_test/euler_angles_main.cpp @@ -26,10 +26,10 @@ int main() float arr2[4] = {0.6, 0.6, -.18, -.44}; float arr3[4] = {-0.5, -0.36, .43, .03}; - vector v0(3, arr0); - vector v1(3, arr1); - vector v2(4, arr2); - vector v3(4, arr3); + vect v0(3, arr0); + vect v1(3, arr1); + vect v2(4, arr2); + vect v3(4, arr3); quaternion q1(v2); quaternion q2(v3); diff --git a/src/sensor_fusion/standalone/test/quaternion_test/quaternion_main.cpp b/src/sensor_fusion/standalone/test/quaternion_test/quaternion_main.cpp index 2708d5e..d2ec86b 100644 --- a/src/sensor_fusion/standalone/test/quaternion_test/quaternion_main.cpp +++ b/src/sensor_fusion/standalone/test/quaternion_test/quaternion_main.cpp @@ -24,8 +24,8 @@ int main() float arr0[4] = {2344.98, 345.24, 456.12, 98.33}; float arr1[4] = {0.056, 0.34, -0.0076, 0.001}; - vector v0(4, arr0); - vector v1(4, arr1); + vect v0(4, arr0); + vect v1(4, arr1); quaternion q0(v0); quaternion q1(v1); diff --git a/src/sensor_fusion/standalone/test/sensor_data_test/sensor_data_main.cpp b/src/sensor_fusion/standalone/test/sensor_data_test/sensor_data_main.cpp index 1ebb100..ef7e5e7 100644 --- a/src/sensor_fusion/standalone/test/sensor_data_test/sensor_data_main.cpp +++ b/src/sensor_fusion/standalone/test/sensor_data_test/sensor_data_main.cpp @@ -23,7 +23,7 @@ int main() { float arr1[3] = {1.04, -4.678, -2.34}; - vector v1(3, arr1); + vect v1(3, arr1); sensor_data sd1(2.0, 3.0, 4.0, 140737488355328); sensor_data sd2(1.04, -4.678, -2.34); diff --git a/src/sensor_fusion/standalone/test/vector_test/vector_main.cpp b/src/sensor_fusion/standalone/test/vector_test/vector_main.cpp index ee5b996..befdeee 100644 --- a/src/sensor_fusion/standalone/test/vector_test/vector_main.cpp +++ b/src/sensor_fusion/standalone/test/vector_test/vector_main.cpp @@ -31,19 +31,19 @@ int main() float arr43[6] = {2.3454,-0.0384,-8.90,3.455,6.785,21.345}; float arr5[5] = {0.2,-0.4,0.6,-0.8,1.0}; - vector v1(5, arr0); - vector v2(5, arr8); - vector v10(4, arr3); - vector v12(4, arr4); - vector v15(6, arr1); - vector v20(6, arr43); - vector v21(3, arr2); - vector v22(3, arr15); - vector v3(4); - vector v6(3); - vector v13(5); - vector v95(6); - vector v35(5, arr5); + vect v1(5, arr0); + vect v2(5, arr8); + vect v10(4, arr3); + vect v12(4, arr4); + vect v15(6, arr1); + vect v20(6, arr43); + vect v21(3, arr2); + vect v22(3, arr15); + vect v3(4); + vect v6(3); + vect v13(5); + vect v95(6); + vect v35(5, arr5); float arr57[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}}; matrix m12(3, 3, (float *) arr57); @@ -102,7 +102,7 @@ int main() cout<< "\nProduct:\n"<< m102 << endl; cout<< "\n\n\nVector x Multiplication matrix:\n"; - vector v102 = (v22 * m12); + vect v102 = (v22 * m12); cout<< "\n" << v22 << "\n" << m12; cout<< "\nProduct:\n" << v102 << endl; float val = mul(v22, m32); @@ -163,7 +163,7 @@ int main() cout<< "\nOutput:\n" << v3 << endl; - vector v111 = cross(v21, v22); + vect 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/vector.cpp b/src/sensor_fusion/vector.cpp index e063d6e..bf2ee65 100644 --- a/src/sensor_fusion/vector.cpp +++ b/src/sensor_fusion/vector.cpp @@ -20,13 +20,13 @@ #if defined (_VECTOR_H) && defined (_MATRIX_H) template -vector::vector(void) +vect::vect(void) { m_vec = NULL; } template -vector::vector(const int size) +vect::vect(const int size) { m_size = size; m_vec = NULL; @@ -34,7 +34,7 @@ vector::vector(const int size) } template -vector::vector(const int size, TYPE *vec_data) +vect::vect(const int size, TYPE *vec_data) { m_size = size; m_vec = NULL; @@ -45,7 +45,7 @@ vector::vector(const int size, TYPE *vec_data) } template -vector::vector(const vector& v) +vect::vect(const vect& v) { m_size = v.m_size; m_vec = NULL; @@ -56,14 +56,14 @@ vector::vector(const vector& v) } template -vector::~vector() +vect::~vect() { if (m_vec != NULL) delete[] m_vec; } template -vector vector::operator =(const vector& v) +vect vect::operator =(const vect& v) { if (this == &v) { @@ -95,7 +95,7 @@ vector vector::operator =(const vector& v) } template -ostream& operator <<(ostream& dout, vector& v) +ostream& operator <<(ostream& dout, vect& v) { for (int j = 0; j < v.m_size; j++) { @@ -108,11 +108,11 @@ ostream& operator <<(ostream& dout, vector& v) } template -vector operator +(const vector v1, const vector v2) +vect operator +(const vect v1, const vect v2) { assert(v1.m_size == v2.m_size); - vector v3(v1.m_size); + vect v3(v1.m_size); for (int j = 0; j < v1.m_size; j++) v3.m_vec[j] = v1.m_vec[j] + v2.m_vec[j]; @@ -121,9 +121,9 @@ vector operator +(const vector v1, const vector v2) } template -vector operator +(const vector v, const T val) +vect operator +(const vect v, const T val) { - vector v1(v.m_size); + vect v1(v.m_size); for (int j = 0; j < v.m_size; j++) v1.m_vec[j] = v.m_vec[j] + val; @@ -132,11 +132,11 @@ vector operator +(const vector v, const T val) } template -vector operator -(const vector v1, const vector v2) +vect operator -(const vect v1, const vect v2) { assert(v1.m_size == v2.m_size); - vector v3(v1.m_size); + vect v3(v1.m_size); for (int j = 0; j < v1.m_size; j++) v3.m_vec[j] = v1.m_vec[j] - v2.m_vec[j]; @@ -145,9 +145,9 @@ vector operator -(const vector v1, const vector v2) } template -vector operator -(const vector v, const T val) +vect operator -(const vect v, const T val) { - vector v1(v.m_size); + vect v1(v.m_size); for (int j = 0; j < v.m_size; j++) v1.m_vec[j] = v.m_vec[j] - val; @@ -156,7 +156,7 @@ vector operator -(const vector v, const T val) } template -matrix operator *(const matrix m, const vector v) +matrix operator *(const matrix m, const vect v) { assert(m.m_rows == v.m_size); assert(m.m_cols == 1); @@ -175,12 +175,12 @@ matrix operator *(const matrix m, const vector v) } template -vector operator *(const vector v, const matrix m) +vect operator *(const vect v, const matrix m) { assert(m.m_rows == v.m_size); assert(m.m_cols != 1); - vector v1(m.m_cols); + vect v1(m.m_cols); for (int j = 0; j < m.m_cols; j++) { @@ -193,9 +193,9 @@ vector operator *(const vector v, const matrix m) } template -vector operator *(const vector v, const T val) +vect operator *(const vect v, const T val) { - vector v1(v.m_size); + vect v1(v.m_size); for (int j = 0; j < v.m_size; j++) v1.m_vec[j] = v.m_vec[j] * val; @@ -204,9 +204,9 @@ vector operator *(const vector v, const T val) } template -vector operator /(const vector v, const T val) +vect operator /(const vect v, const T val) { - vector v1(v.m_size); + vect v1(v.m_size); for (int j = 0; j < v.m_size; j++) v1.m_vec[j] = v.m_vec[j] / val; @@ -215,7 +215,7 @@ vector operator /(const vector v, const T val) } template -bool operator ==(const vector v1, const vector v2) +bool operator ==(const vect v1, const vect v2) { if (v1.m_size == v2.m_size) { @@ -230,13 +230,13 @@ bool operator ==(const vector v1, const vector v2) } template -bool operator !=(const vector v1, const vector v2) +bool operator !=(const vect v1, const vect v2) { return (!(v1 == v2)); } template -matrix transpose(const vector v) +matrix transpose(const vect v) { matrix m(v.m_size, 1); @@ -247,9 +247,9 @@ matrix transpose(const vector v) } template -vector transpose(const matrix m) +vect transpose(const matrix m) { - vector v(m.m_rows); + vect v(m.m_rows); for (int i = 0; i < m.m_rows; i++) v.m_vec[i] = m.m_mat[i][0]; @@ -258,7 +258,7 @@ vector transpose(const matrix m) } template -T mul(const vector v, const matrix m) +T mul(const vect v, const matrix m) { assert(m.m_rows == v.m_size); assert(m.m_cols == 1); @@ -273,7 +273,7 @@ T mul(const vector v, const matrix m) template -void insert_end(vector& v, T val) +void insert_end(vect& v, T val) { for (int i = 0; i < (v.m_size - 1); i++) v.m_vec[i] = v.m_vec[i+1]; @@ -282,9 +282,9 @@ void insert_end(vector& v, T val) } template -vector cross(const vector v1, const vector v2) +vect cross(const vect v1, const vect v2) { - vector v3(v1.m_size); + vect 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])); @@ -294,9 +294,9 @@ vector cross(const vector v1, const vector v2) } template -bool is_initialized(const vector v) +bool is_initialized(const vect v) { - vector v1(v.m_size); + vect v1(v.m_size); bool retval; retval = (v == v1) ? false : true; @@ -305,7 +305,7 @@ bool is_initialized(const vector v) } template -T var(const vector v) +T var(const vect v) { T val = 0; T mean, var, diff; diff --git a/src/sensor_fusion/vector.h b/src/sensor_fusion/vector.h index 21566ea..4c3eaf1 100644 --- a/src/sensor_fusion/vector.h +++ b/src/sensor_fusion/vector.h @@ -23,50 +23,50 @@ #include "matrix.h" template -class vector { +class vect { public: int m_size; TYPE *m_vec; - vector(void); - vector(const int size); - vector(const int size, TYPE *vec_data); - vector(const vector& v); - ~vector(); + vect(void); + vect(const int size); + vect(const int size, TYPE *vec_data); + vect(const vect& v); + ~vect(); - vector operator =(const vector& v); + vect operator =(const vect& v); template friend ostream& operator << (ostream& dout, - vector& v); - template friend vector operator +(const vector v1, - const vector v2); - template friend vector operator +(const vector v, + vect& v); + template friend vect operator +(const vect v1, + const vect v2); + template friend vect operator +(const vect v, const T val); - template friend vector operator -(const vector v1, - const vector v2); - template friend vector operator -(const vector v, + template friend vect operator -(const vect v1, + const vect v2); + template friend vect operator -(const vect v, const T val); template friend matrix operator *(const matrix v1, - const vector v2); - template friend vector operator *(const vector v, + const vect v2); + template friend vect operator *(const vect v, const matrix m); - template friend vector operator *(const vector v, + template friend vect operator *(const vect v, const T val); - template friend vector operator /(const vector v1, + template friend vect operator /(const vect v1, const T val); - template friend bool operator ==(const vector v1, - const vector v2); - template friend bool operator !=(const vector v1, - const vector v2); + template friend bool operator ==(const vect v1, + const vect v2); + template friend bool operator !=(const vect v1, + const vect v2); - template friend T mul(const vector v, const matrix m); - template friend void insert_end(vector& v, T val); - template friend matrix transpose(const vector v); - template friend vector transpose(const matrix m); - template friend vector cross(const vector v1, - const vector v2); - template friend T var(const vector v); - template friend bool is_initialized(const vector v); + template friend T mul(const vect v, const matrix m); + template friend void insert_end(vect& v, T val); + template friend matrix transpose(const vect v); + template friend vect transpose(const matrix m); + template friend vect cross(const vect v1, + const vect v2); + template friend T var(const vect v); + template friend bool is_initialized(const vect v); }; #include "vector.cpp" -- 2.7.4