uuv_example_app move to matrix lib

src/examples/uuv_example_app/uuv_example_app.cpp

@@ -133,15 +133,13 @@ int uuv_example_app_main(int argc, char *argv[])
 
 				// get current rotation matrix from control state quaternions, the quaternions are generated by the
 				// attitude_estimator_q application using the sensor data
-				math::Quaternion q_att(raw_ctrl_state.q[0], raw_ctrl_state.q[1], raw_ctrl_state.q[2],
-						       raw_ctrl_state.q[3]);     // control_state is frequently updated
-				math::Matrix<3, 3> R =
-					q_att.to_dcm();     // create rotation matrix for the quaternion when post multiplying with a column vector
+				matrix::Quatf q_att(raw_ctrl_state.q);     // control_state is frequently updated
+				matrix::Dcmf R = q_att; // create rotation matrix for the quaternion when post multiplying with a column vector
 
 				// orientation vectors
-				math::Vector<3> x_B(R(0, 0), R(1, 0), R(2, 0));     // orientation body x-axis (in world coordinates)
-				math::Vector<3> y_B(R(0, 1), R(1, 1), R(2, 1));     // orientation body y-axis (in world coordinates)
-				math::Vector<3> z_B(R(0, 2), R(1, 2), R(2, 2));     // orientation body z-axis (in world coordinates)
+				matrix::Vector3f x_B(R(0, 0), R(1, 0), R(2, 0));     // orientation body x-axis (in world coordinates)
+				matrix::Vector3f y_B(R(0, 1), R(1, 1), R(2, 1));     // orientation body y-axis (in world coordinates)
+				matrix::Vector3f z_B(R(0, 2), R(1, 2), R(2, 2));     // orientation body z-axis (in world coordinates)
 
 				PX4_INFO("x_B:\t%8.4f\t%8.4f\t%8.4f",
 					 (double)x_B(0),