Removed all use of C library from the matrix namespace

matrix/AxisAngle.hpp

@@ -76,9 +76,9 @@ public:
         Vector<Type, 3>()
     {
         AxisAngle &v = *this;
-        Type ang = Type(2.0f)*acosf(q(0));
-        Type mag = sinf(ang/2.0f);
-        if (fabsf(mag) > 0) {
+        Type ang = Type(2.0f)*acos(q(0));
+        Type mag = sin(ang/2.0f);
+        if (fabs(mag) > 0) {
             v(0) = ang*q(1)/mag;
             v(1) = ang*q(2)/mag;
             v(2) = ang*q(3)/mag;

matrix/Quaternion.hpp

@@ -97,28 +97,28 @@ public:
         Quaternion &q = *this;
         Type t = R.trace();
         if (t > Type(0)) {
-            t = sqrtf(Type(1) + t);
+            t = sqrt(Type(1) + t);
             q(0) = Type(0.5) * t;
             t = Type(0.5) / t;
             q(1) = (R(2,1) - R(1,2)) * t;
             q(2) = (R(0,2) - R(2,0)) * t;
             q(3) = (R(1,0) - R(0,1)) * t;
         } else if (R(0,0) > R(1,1) && R(0,0) > R(2,2)) {
-            t = sqrtf(Type(1) + R(0,0) - R(1,1) - R(2,2));
+            t = sqrt(Type(1) + R(0,0) - R(1,1) - R(2,2));
             q(1) = Type(0.5) * t;
             t = Type(0.5) / t;
             q(0) = (R(2,1) - R(1,2)) * t;
             q(2) = (R(1,0) + R(0,1)) * t;
             q(3) = (R(0,2) + R(2,0)) * t;
         } else if (R(1,1) > R(2,2)) {
-            t = sqrtf(Type(1) - R(0,0) + R(1,1) - R(2,2));
+            t = sqrt(Type(1) - R(0,0) + R(1,1) - R(2,2));
             q(2) = Type(0.5) * t;
             t = Type(0.5) / t;
             q(0) = (R(0,2) - R(2,0)) * t;
             q(1) = (R(1,0) + R(0,1)) * t;
             q(3) = (R(2,1) + R(1,2)) * t;
         } else {
-            t = sqrtf(Type(1) - R(0,0) - R(1,1) + R(2,2));
+            t = sqrt(Type(1) - R(0,0) - R(1,1) + R(2,2));
             q(3) = Type(0.5) * t;
             t = Type(0.5) / t;
             q(0) = (R(1,0) - R(0,1)) * t;
@@ -171,8 +171,8 @@ public:
             q(0) = Type(1.0);
             q(1) = q(2) = q(3) = 0;
         } else {
-            Type magnitude = sinf(angle / 2.0f);
-            q(0) = cosf(angle / 2.0f);
+            Type magnitude = sin(angle / 2.0f);
+            q(0) = cos(angle / 2.0f);
             q(1) = axis(0) * magnitude;
             q(2) = axis(1) * magnitude;
             q(3) = axis(2) * magnitude;
@@ -389,9 +389,9 @@ public:
             q(1) = q(2) = q(3) = 0;
         }
 
-        Type magnitude = sinf(theta / 2.0f);
+        Type magnitude = sin(theta / 2.0f);
 
-        q(0) = cosf(theta / 2.0f);
+        q(0) = cos(theta / 2.0f);
         q(1) = axis(0) * magnitude;
         q(2) = axis(1) * magnitude;
         q(3) = axis(2) * magnitude;
@@ -418,7 +418,7 @@ public:
 
         if (axis_magnitude >= Type(1e-10)) {
             vec = vec / axis_magnitude;
-            vec = vec * wrap_pi(Type(2.0) * atan2f(axis_magnitude, q(0)));
+            vec = vec * wrap_pi(Type(2.0) * atan2(axis_magnitude, q(0)));
         }
 
         return vec;

matrix/SquareMatrix.hpp

@@ -136,12 +136,12 @@ bool inv(const SquareMatrix<Type, M> & A, SquareMatrix<Type, M> & inv)
     for (size_t n = 0; n < M; n++) {
 
         // if diagonal is zero, swap with row below
-        if (fabsf(static_cast<float>(U(n, n))) < 1e-8f) {
+        if (fabs(static_cast<float>(U(n, n))) < 1e-8f) {
             //printf("trying pivot for row %d\n",n);
             for (size_t i = n + 1; i < M; i++) {
 
                 //printf("\ttrying row %d\n",i);
-                if (fabsf(static_cast<float>(U(i, n))) > 1e-8f) {
+                if (fabs(static_cast<float>(U(i, n))) > 1e-8f) {
                     //printf("swapped %d\n",i);
                     U.swapRows(i, n);
                     P.swapRows(i, n);
@@ -157,11 +157,11 @@ bool inv(const SquareMatrix<Type, M> & A, SquareMatrix<Type, M> & inv)
         //printf("U:\n"); U.print();
         //printf("P:\n"); P.print();
         //fflush(stdout);
-        //ASSERT(fabsf(U(n, n)) > 1e-8f);
+        //ASSERT(fabs(U(n, n)) > 1e-8f);
 #endif
 
         // failsafe, return zero matrix
-        if (fabsf(static_cast<float>(U(n, n))) < 1e-8f) {
+        if (fabs(static_cast<float>(U(n, n))) < 1e-8f) {
             return false;
         }
 
@@ -280,7 +280,7 @@ SquareMatrix <Type, M> cholesky(const SquareMatrix<Type, M> & A)
                 if (res <= 0) {
                     L(j, j) = 0;
                 } else {
-                    L(j, j) = sqrtf(res);
+                    L(j, j) = sqrt(res);
                 }
             } else {
                 float sum = 0;