px4_autopilot/apps/examples/math_demo/math_demo.cpp

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 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *   Author: @author Example User <mail@example.com>
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/**
 * @file math_demo.cpp
 * Demonstration of math library
 */

#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>

/**
 * Management function.
 */
extern "C" __EXPORT int math_demo_main(int argc, char *argv[]);

/**
 * Test function
 */
void test();

/**
 * Print the correct usage.
 */
static void usage(const char *reason);

static void
usage(const char *reason)
{
    if (reason)
        fprintf(stderr, "%s\n", reason);
    fprintf(stderr, "usage: math_demo {test}\n\n");
    exit(1);
}

/**
 * The deamon app only briefly exists to start
 * the background job. The stack size assigned in the
 * Makefile does only apply to this management task.
 * 
 * The actual stack size should be set in the call
 * to task_create().
 */
int math_demo_main(int argc, char *argv[])
{

    if (argc < 1)
        usage("missing command");

    if (!strcmp(argv[1], "test")) {
        test();
        exit(0);
    }

    usage("unrecognized command");
    exit(1);
}

void test()
{
    printf("beginning math lib test\n");
    using namespace math;
    vectorTest();
    matrixTest();
    vector3Test();
    eulerAnglesTest();
    quaternionTest();
    dcmTest();
}