From 713aee154b53566bec41b14cecdeca55fad00be9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 7 Nov 2015 09:41:38 +0100
Subject: [PATCH] Remove both versions of matrix / Matrix

---
 matrix/Matrix.hpp | 368 ----------------------------------------------
 matrix/matrix.hpp |  11 --
 2 files changed, 379 deletions(-)
 delete mode 100644 matrix/Matrix.hpp
 delete mode 100644 matrix/matrix.hpp

diff --git a/matrix/Matrix.hpp b/matrix/Matrix.hpp
deleted file mode 100644
index 45e22b6307..0000000000
--- a/matrix/Matrix.hpp
+++ /dev/null
@@ -1,368 +0,0 @@
-/**
- * @file Matrix.hpp
- *
- * A simple matrix template library.
- *
- * @author James Goppert <james.goppert@gmail.com>
- */
-
-#pragma once
-
-#include <stdio.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
-#include "matrix.hpp"
-
-namespace matrix
-{
-
-template <typename Type, size_t M>
-class Vector;
-
-template<typename Type, size_t  M, size_t N>
-class Matrix
-{
-
-public:
-
-    Type _data[M][N];
-
-    virtual ~Matrix() {};
-
-    Matrix() :
-        _data()
-    {
-    }
-
-    Matrix(const Type *data_) :
-        _data()
-    {
-        memcpy(_data, data_, sizeof(_data));
-    }
-
-    Matrix(const Matrix &other) :
-        _data()
-    {
-        memcpy(_data, other._data, sizeof(_data));
-    }
-
-    /**
-     * Accessors/ Assignment etc.
-     */
-
-    Type *data()
-    {
-        return _data[0];
-    }
-
-    inline Type operator()(size_t i, size_t j) const
-    {
-        return _data[i][j];
-    }
-
-    inline Type &operator()(size_t i, size_t j)
-    {
-        return _data[i][j];
-    }
-
-    /**
-     * Matrix Operations
-     */
-
-    // this might use a lot of programming memory
-    // since it instantiates a class for every
-    // required mult pair, but it provides
-    // compile time size_t checking
-    template<size_t P>
-    Matrix<Type, M, P> operator*(const Matrix<Type, N, P> &other) const
-    {
-        const Matrix<Type, M, N> &self = *this;
-        Matrix<Type, M, P> res;
-        res.setZero();
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t k = 0; k < P; k++) {
-                for (size_t j = 0; j < N; j++) {
-                    res(i, k) += self(i, j) * other(j, k);
-                }
-            }
-        }
-
-        return res;
-    }
-
-    Matrix<Type, M, N> operator+(const Matrix<Type, M, N> &other) const
-    {
-        Matrix<Type, M, N> res;
-        const Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                res(i , j) = self(i, j) + other(i, j);
-            }
-        }
-
-        return res;
-    }
-
-    bool operator==(const Matrix<Type, M, N> &other) const
-    {
-        const Matrix<Type, M, N> &self = *this;
-        static const Type eps = Type(1e-6);
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                if (fabs(self(i , j) - other(i, j)) > eps) {
-                    return false;
-                }
-            }
-        }
-
-        return true;
-    }
-
-    Matrix<Type, M, N> operator-(const Matrix<Type, M, N> &other) const
-    {
-        Matrix<Type, M, N> res;
-        const Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                res(i , j) = self(i, j) - other(i, j);
-            }
-        }
-
-        return res;
-    }
-
-    void operator+=(const Matrix<Type, M, N> &other)
-    {
-        Matrix<Type, M, N> &self = *this;
-        self = self + other;
-    }
-
-    void operator-=(const Matrix<Type, M, N> &other)
-    {
-        Matrix<Type, M, N> &self = *this;
-        self = self - other;
-    }
-
-    template<size_t P>
-    void operator*=(const Matrix<Type, N, P> &other)
-    {
-        Matrix<Type, M, N> &self = *this;
-        self = self * other;
-    }
-
-    /**
-     * Scalar Operations
-     */
-
-    Matrix<Type, M, N> operator*(Type scalar) const
-    {
-        Matrix<Type, M, N> res;
-        const Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                res(i , j) = self(i, j) * scalar;
-            }
-        }
-
-        return res;
-    }
-
-    inline Matrix<Type, M, N> operator/(Type scalar) const
-    {
-        return (*this)*(1/scalar);
-    }
-
-    Matrix<Type, M, N> operator+(Type scalar) const
-    {
-        Matrix<Type, M, N> res;
-        const Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                res(i , j) = self(i, j) + scalar;
-            }
-        }
-
-        return res;
-    }
-
-    inline Matrix<Type, M, N> operator-(Type scalar) const
-    {
-        return (*this) + (-1*scalar);
-    }
-
-    void operator*=(Type scalar)
-    {
-        Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                self(i, j) = self(i, j) * scalar;
-            }
-        }
-    }
-
-    void operator/=(Type scalar)
-    {
-        Matrix<Type, M, N> &self = *this;
-        self = self * (1.0f / scalar);
-    }
-
-    inline void operator+=(Type scalar)
-    {
-        *this = (*this) + scalar;
-    }
-
-    inline void operator-=(Type scalar)
-    {
-        *this = (*this) - scalar;
-    }
-
-
-    /**
-     * Misc. Functions
-     */
-
-    void print() const
-    {
-        const Matrix<Type, M, N> &self = *this;
-        printf("\n");
-
-        for (size_t i = 0; i < M; i++) {
-            printf("[");
-
-            for (size_t j = 0; j < N; j++) {
-                printf("%10g\t", double(self(i, j)));
-            }
-
-            printf("]\n");
-        }
-    }
-
-    Matrix<Type, N, M> transpose() const
-    {
-        Matrix<Type, N, M> res;
-        const Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            for (size_t j = 0; j < N; j++) {
-                res(j, i) = self(i, j);
-            }
-        }
-
-        return res;
-    }
-
-
-    // tranpose alias
-    inline Matrix<Type, N, M> T() const
-    {
-        return transpose();
-    }
-
-    void setZero()
-    {
-        memset(_data, 0, sizeof(_data));
-    }
-
-    void setIdentity()
-    {
-        setZero();
-        Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M and i < N; i++) {
-            self(i, i) = 1;
-        }
-    }
-
-    inline void swapRows(size_t a, size_t b)
-    {
-        if (a == b) {
-            return;
-        }
-
-        Matrix<Type, M, N> &self = *this;
-
-        for (size_t j = 0; j < N; j++) {
-            Type tmp = self(a, j);
-            self(a, j) = self(b, j);
-            self(b, j) = tmp;
-        }
-    }
-
-    inline void swapCols(size_t a, size_t b)
-    {
-        if (a == b) {
-            return;
-        }
-
-        Matrix<Type, M, N> &self = *this;
-
-        for (size_t i = 0; i < M; i++) {
-            Type tmp = self(i, a);
-            self(i, a) = self(i, b);
-            self(i, b) = tmp;
-        }
-    }
-
-    Matrix<Type, M, N> abs()
-    {
-        Matrix<Type, M, N> r;
-        for (int i=0; i<M; i++) {
-            for (int j=0; j<M; j++) {
-                r(i,j) = Type(fabs((*this)(i,j)));
-            }
-        }
-        return r;
-    }
-
-    Type max()
-    {
-        Type max_val = (*this)(0,0);
-        for (int i=0; i<M; i++) {
-            for (int j=0; j<M; j++) {
-                Type val = (*this)(i,j);
-                if (val > max_val) {
-                    max_val = val;
-                }
-            }
-        }
-        return max_val;
-    }
-
-    Type min()
-    {
-        Type min_val = (*this)(0,0);
-        for (int i=0; i<M; i++) {
-            for (int j=0; j<M; j++) {
-                Type val = (*this)(i,j);
-                if (val < min_val) {
-                    min_val = val;
-                }
-            }
-        }
-        return min_val;
-    }
-
-};
-
-template<typename Type, size_t M, size_t N>
-Matrix<Type, M, N> zero() {
-    Matrix<Type, M, N> m;
-    m.setZero();
-    return m;
-}
-
-typedef Matrix<float, 3, 3> Matrix3f;
-
-}; // namespace matrix
-
-/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
diff --git a/matrix/matrix.hpp b/matrix/matrix.hpp
deleted file mode 100644
index b3c2997712..0000000000
--- a/matrix/matrix.hpp
+++ /dev/null
@@ -1,11 +0,0 @@
-#pragma once
-
-#include "Matrix.hpp"
-#include "SquareMatrix.hpp"
-#include "Vector.hpp"
-#include "Vector3.hpp"
-#include "Euler.hpp"
-#include "Dcm.hpp"
-#include "Scalar.hpp"
-#include "Quaternion.hpp"
-#include "filter.hpp"