Fix README/cmake format.

CMakeLists.txt

@@ -10,8 +10,8 @@ set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 if (NOT CMAKE_BUILD_TYPE)
-	set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
+    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
-	message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
+    message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
 endif()
 
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
@@ -28,133 +28,133 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 include_directories(${CMAKE_SOURCE_DIR})
 
 if(SUPPORT_STDIOSTREAM)
-	add_definitions(-DSUPPORT_STDIOSTREAM)
+    add_definitions(-DSUPPORT_STDIOSTREAM)
 endif()
 
 set(CMAKE_CXX_FLAGS_COVERAGE
-	"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
+    "--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
-	CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
+    CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
 set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
-	"--coverage -ftest-coverage -lgcov"
+    "--coverage -ftest-coverage -lgcov"
-	CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
+    CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
 mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
 
 add_compile_options(
-	-pedantic
+    -pedantic
-	-Wall
+    -Wall
-	-Warray-bounds
+    -Warray-bounds
-	-Wcast-align
+    -Wcast-align
-	-Wcast-qual
+    -Wcast-qual
-	-Wconversion
+    -Wconversion
-	-Wctor-dtor-privacy
+    -Wctor-dtor-privacy
-	-Wdisabled-optimization
+    -Wdisabled-optimization
-	-Werror
+    -Werror
-	-Wextra
+    -Wextra
-	-Wfloat-equal
+    -Wfloat-equal
-	-Wformat-security
+    -Wformat-security
-	-Wformat=2
+    -Wformat=2
-	-Winit-self
+    -Winit-self
-	-Wlogical-op
+    -Wlogical-op
-	-Wmissing-declarations
+    -Wmissing-declarations
-	-Wmissing-include-dirs
+    -Wmissing-include-dirs
-	-Wno-sign-compare
+    -Wno-sign-compare
-	-Wno-unused
+    -Wno-unused
-	-Wno-unused-parameter
+    -Wno-unused-parameter
-	-Wnoexcept
+    -Wnoexcept
-	-Wold-style-cast
+    -Wold-style-cast
-	-Woverloaded-virtual
+    -Woverloaded-virtual
-	-Wpointer-arith
+    -Wpointer-arith
-	-Wredundant-decls
+    -Wredundant-decls
-	-Wreorder
+    -Wreorder
-	-Wshadow
+    -Wshadow
-	-Wsign-conversion
+    -Wsign-conversion
-	-Wsign-promo
+    -Wsign-promo
-	-Wstrict-null-sentinel
+    -Wstrict-null-sentinel
-	-Wswitch-default
+    -Wswitch-default
-	-Wundef
+    -Wundef
-	-Wuninitialized
+    -Wuninitialized
-	-Wunused-variable
+    -Wunused-variable
-	)
+    )
 
 # clang tolerate unknown gcc options
 if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-	add_compile_options(
+    add_compile_options(
-		-Wno-error=unused-command-line-argument-hard-error-in-future
+        -Wno-error=unused-command-line-argument-hard-error-in-future
-		-Wno-unknown-warning-option
+        -Wno-unknown-warning-option
-		)
+        )
 else()
-	add_compile_options(
+    add_compile_options(
-		-Wstrict-overflow=5
+        -Wstrict-overflow=5
-		)
+        )
 endif()
 
 # santiziers (ASAN, UBSAN)
 if(ASAN)
-	message(STATUS "address sanitizer enabled")
+    message(STATUS "address sanitizer enabled")
 
-	# environment variables
+    # environment variables
-	#  ASAN_OPTIONS=detect_stack_use_after_return=1
+    #  ASAN_OPTIONS=detect_stack_use_after_return=1
-	#  ASAN_OPTIONS=check_initialization_order=1
+    #  ASAN_OPTIONS=check_initialization_order=1
 
-	add_compile_options(
+    add_compile_options(
-		-fsanitize=address
+        -fsanitize=address
-		-g3
+        -g3
-		-O1
+        -O1
-		-fno-omit-frame-pointer
+        -fno-omit-frame-pointer
-		)
+        )
 
-	set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
+    set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
 
 elseif(UBSAN)
-	message(STATUS "undefined behaviour sanitizer enabled")
+    message(STATUS "undefined behaviour sanitizer enabled")
 
-	add_compile_options(
+    add_compile_options(
-		-fsanitize=undefined
+        -fsanitize=undefined
-		-fsanitize=integer
+        -fsanitize=integer
-		-g3
+        -g3
-		-O1
+        -O1
-		-fno-omit-frame-pointer
+        -fno-omit-frame-pointer
-		)
+        )
 
-	set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined)
+    set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=undefined)
 endif()
 
 
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 
 if(TESTING)
-	enable_testing()
+    enable_testing()
-	add_subdirectory(test)
+    add_subdirectory(test)
-	add_dependencies(check test_build)
+    add_dependencies(check test_build)
 
-	add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
+    add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
-	add_dependencies(clang-tidy test_build)
+    add_dependencies(clang-tidy test_build)
 endif()
 
 if(FORMAT)
-	set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle)
+    set(astyle_exe ${CMAKE_BINARY_DIR}/astyle/src/bin/astyle)
-	add_custom_command(OUTPUT ${astyle_exe}
+    add_custom_command(OUTPUT ${astyle_exe}
-		COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz
+        COMMAND wget http://sourceforge.net/projects/astyle/files/astyle/astyle%202.06/astyle_2.06_linux.tar.gz -O /tmp/astyle.tar.gz
-		COMMAND tar -xvf /tmp/astyle.tar.gz
+        COMMAND tar -xvf /tmp/astyle.tar.gz
-		COMMAND cd astyle/src && make -f ../build/gcc/Makefile
+        COMMAND cd astyle/src && make -f ../build/gcc/Makefile
-		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-		)
+        )
-
+
-	add_custom_target(check_format
+    add_custom_target(check_format
-		COMMAND scripts/format.sh ${astyle_exe} 0
+        COMMAND scripts/format.sh ${astyle_exe} 0
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		DEPENDS ${astyle_exe}
+        DEPENDS ${astyle_exe}
-		VERBATIM
+        VERBATIM
-	)
+    )
-
+
-	add_custom_target(format
+    add_custom_target(format
-		COMMAND scripts/format.sh ${astyle_exe} 1
+        COMMAND scripts/format.sh ${astyle_exe} 1
-		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		VERBATIM
+        VERBATIM
-		DEPENDS ${astyle_exe}
+        DEPENDS ${astyle_exe}
-	)
+    )
-
+
-	add_dependencies(check check_format)
+    add_dependencies(check check_format)
 endif()
 
 set(CPACK_PACKAGE_VERSION_MAJOR ${VERSION_MAJOR})
@@ -163,4 +163,4 @@ set(CPACK_PACKAGE_VERSION_PATCH ${VERSION_PATCH})
 set(CPACK_PACKAGE_CONTACT "james.goppert@gmail.com")
 include(CPack)
 
-# vim: set noet fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
+# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :

README.md

@@ -16,111 +16,112 @@ A simple and efficient template based matrix library.
 ## Library Overview
 
 * matrix/math.hpp : Provides matrix math routines.
-	* Matrix (MxN)
+    * Matrix (MxN)
-	* Square Matrix (MxM, has inverse)
+    * Square Matrix (MxM, has inverse)
-	* Vector (Mx1)
+    * Vector (Mx1)
-	* Scalar (1x1)
+    * Scalar (1x1)
-	* Quaternion
+    * Quaternion
-	* Dcm
+    * Dcm
-	* Euler (Body 321)
+    * Euler (Body 321)
-	* Axis Angle
+    * Axis Angle
 
 * matrix/filter.hpp : Provides filtering routines.
-	* kalman_correct
+    * kalman_correct
 
 * matrix/integrate.hpp : Provides integration routines.
-	* integrate_rk4 (Runge-Kutta 4th order)
+    * integrate_rk4 (Runge-Kutta 4th order)
 
 ## Example
 
 See the test directory for detailed examples. Some simple examples are included below:
 
 ```c++
-	// define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation)
+    // define an euler angle (Body 3(yaw)-2(pitch)-1(roll) rotation)
-	float roll = 0.1f;
+    float roll = 0.1f;
-	float pitch = 0.2f;
+    float pitch = 0.2f;
-	float yaw = 0.3f;
+    float yaw = 0.3f;
-	Eulerf euler(roll, pitch, yaw);
+    Eulerf euler(roll, pitch, yaw);
 
-	// convert to quaternion from euler
+    // convert to quaternion from euler
-	Quatf q_nb(euler);
+    Quatf q_nb(euler);
 
-	// convert to DCM from quaternion
+    // convert to DCM from quaternion
-	Dcmf dcm(q_nb);
+    Dcmf dcm(q_nb);
 
-	// you can assign a rotation instance that already exist to another rotation instance, e.g.
+    // you can assign a rotation instance that already exist to another rotation instance, e.g.
-	dcm = euler;
+    dcm = euler;
 
-	// you can also directly create a DCM instance from euler angles like this
+    // you can also directly create a DCM instance from euler angles like this
-	dcm = Eulerf(roll, pitch, yaw);
+    dcm = Eulerf(roll, pitch, yaw);
 
-	// create an axis angle representation from euler angles
+    // create an axis angle representation from euler angles
-	AxisAngle<float> axis_angle = euler;
+    AxisAngle<float> axis_angle = euler;
 
-	// use axis angle to initialize a DCM
+    // use axis angle to initialize a DCM
-	Dcmf dcm2(AxisAngle(1, 2, 3));
+    Dcmf dcm2(AxisAngle(1, 2, 3));
-	
+    
-	// use axis angle with axis/angle separated to init DCM
+    // use axis angle with axis/angle separated to init DCM
-	Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2));
+    Dcmf dcm3(AxisAngle(Vector3f(1, 0, 0), 0.2));
 
-	// do some kalman filtering
+    // do some kalman filtering
-	const size_t n_x = 5;
+    const size_t n_x = 5;
-	const size_t n_y = 3;
+    const size_t n_y = 3;
 
-	// define matrix sizes
+    // define matrix sizes
-	SquareMatrix<float, n_x> P;
+    SquareMatrix<float, n_x> P;
-	Vector<float, n_x> x;
+    Vector<float, n_x> x;
-	Vector<float, n_y> y;
+    Vector<float, n_y> y;
-	Matrix<float, n_y, n_x> C;
+    Matrix<float, n_y, n_x> C;
-	SquareMatrix<float, n_y> R;
+    SquareMatrix<float, n_y> R;
-	SquareMatrix<float, n_y> S;
+    SquareMatrix<float, n_y> S;
-	Matrix<float, n_x, n_y> K;
+    Matrix<float, n_x, n_y> K;
 
-	// define measurement matrix
+    // define measurement matrix
-	C = zero<float, n_y, n_x>(); // or C.setZero()
+    C = zero<float, n_y, n_x>(); // or C.setZero()
-	C(0,0) = 1;
+    C(0,0) = 1;
-	C(1,1) = 2;
+    C(1,1) = 2;
-	C(2,2) = 3;
+    C(2,2) = 3;
 
-	// set x to zero
+    // set x to zero
-	x = zero<float, n_x, 1>(); // or x.setZero()
+    x = zero<float, n_x, 1>(); // or x.setZero()
 
-	// set P to identity * 0.01
+    // set P to identity * 0.01
-	P = eye<float, n_x>()*0.01;
+    P = eye<float, n_x>()*0.01;
 
-	// set R to identity * 0.1
+    // set R to identity * 0.1
-	R = eye<float, n_y>()*0.1;
+    R = eye<float, n_y>()*0.1;
 
-	// measurement
+    // measurement
-	y(0) = 1;
+    y(0) = 1;
-	y(1) = 2;
+    y(1) = 2;
-	y(2) = 3;
+    y(2) = 3;
 
-	// innovation
+    // innovation
-	r = y - C*x;
+    r = y - C*x;
 
-	// innovations variance
+    // innovations variance
-	S = C*P*C.T() + R;
+    S = C*P*C.T() + R;
 
-	// Kalman gain matrix
+    // Kalman gain matrix
-	K = P*C.T()*S.I();
+    K = P*C.T()*S.I();
-	// S.I() is the inverse, defined for SquareMatrix
+    // S.I() is the inverse, defined for SquareMatrix
 
-	// correction
+    // correction
-	x += K*r;
+    x += K*r;
 
-	// slicing
+    // slicing
     float data[9] = {0, 2, 3,
                      4, 5, 6,
                      7, 8, 10
                     };
     SquareMatrix<float, 3> A(data);
 
-	// Slice a 3,3 matrix starting at row 1, col 0,
+    // Slice a 3,3 matrix starting at row 1, col 0,
-	// with size 2 x 3, warning, no size checking
+    // with size 2 x 3, warning, no size checking
     Matrix<float, 2, 3> B(A.slice<2, 3>(1, 0));
 
-	// this results in:
+    // this results in:
-	// 4, 5, 6
+    // 4, 5, 6
-	// 7, 8, 10
+    // 7, 8, 10
 ```
+<!--  vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

scripts/format.sh

@@ -12,17 +12,19 @@ format_wildcards="""
 
 if [[ $format -eq 1 ]]
 then
-	echo formatting
+    echo formatting
-	$astyle ${format_wildcards}
+    $astyle ${format_wildcards}
 else
-	echo checking format...
+    echo checking format...
-	$astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null
+    $astyle --dry-run ${format_wildcards} | grep Formatted &>/dev/null
-	if [[ $? -eq 0 ]]
+    if [[ $? -eq 0 ]]
-	then
+    then
-		echo Error: need to format
+        echo Error: need to format
-		echo "From cmake build directory run: 'make format'"
+        echo "From cmake build directory run: 'make format'"
-		exit 1
+        exit 1
-	fi
+    fi
-	echo no formatting needed
+    echo no formatting needed
-	exit 0
+    exit 0
 fi
+
+# vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : 

test/CMakeLists.txt

@@ -1,57 +1,59 @@
 set(tests
-	setIdentity
+    setIdentity
-	inverse
+    inverse
-	slice
+    slice
-	matrixMult
+    matrixMult
-	vectorAssignment
+    vectorAssignment
-	matrixAssignment
+    matrixAssignment
-	matrixScalarMult
+    matrixScalarMult
-	transpose
+    transpose
-	vector
+    vector
-	vector2
+    vector2
-	vector3
+    vector3
-	attitude
+    attitude
-	filter
+    filter
-	integration
+    integration
-	squareMatrix
+    squareMatrix
-	helper
+    helper
-	hatvee
+    hatvee
-	copyto
+    copyto
-	)
+    )
 
 add_custom_target(test_build)
 foreach(test_name ${tests})
-	add_executable(${test_name}
+    add_executable(${test_name}
-		${test_name}.cpp)
+        ${test_name}.cpp)
-	add_test(test_${test_name} ${test_name})
+    add_test(test_${test_name} ${test_name})
-	add_dependencies(test_build ${test_name})
+    add_dependencies(test_build ${test_name})
 endforeach()
 
 if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
 
-	add_custom_target(coverage_build
+    add_custom_target(coverage_build
-		COMMAND ${CMAKE_CTEST_COMMAND}
+        COMMAND ${CMAKE_CTEST_COMMAND}
-		COMMAND lcov --capture --directory . --output-file coverage.info
+        COMMAND lcov --capture --directory . --output-file coverage.info
-		COMMAND lcov --summary coverage.info
+        COMMAND lcov --summary coverage.info
-		WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
+        WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
-		DEPENDS test_build
+        DEPENDS test_build
-		)
+        )
-
+
-	add_custom_target(coverage_html
+    add_custom_target(coverage_html
-		COMMAND genhtml coverage.info --output-directory out
+        COMMAND genhtml coverage.info --output-directory out
-		COMMAND x-www-browser out/index.html
+        COMMAND x-www-browser out/index.html
-		WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
+        WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
-		DEPENDS coverage_build
+        DEPENDS coverage_build
-		)
+        )
-
+
-	set(coverage_deps
+    set(coverage_deps
-		coverage_build)
+        coverage_build)
-
+
-	if (COV_HTML)
+    if (COV_HTML)
-		list(APPEND coverage_deps coverage_html)
+        list(APPEND coverage_deps coverage_html)
-	endif()
+    endif()
-
+
-	add_custom_target(coverage
+    add_custom_target(coverage
-		DEPENDS ${coverage_deps}
+        DEPENDS ${coverage_deps}
-		)
+        )
 endif()
+
+# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :