AP_Math: AP_GeodesicGrid: make all methods static

Since all members are.

libraries/AP_Math/AP_GeodesicGrid.cpp

@@ -179,7 +179,7 @@ const Matrix3f AP_GeodesicGrid::_mid_inverses[10]{
 };
 
 int AP_GeodesicGrid::section(const Vector3f& v,
-                             const bool inclusive) const
+                             const bool inclusive)
 {
     int i = _triangle_index(v, inclusive);
     if (i < 0) {
@@ -195,7 +195,7 @@ int AP_GeodesicGrid::section(const Vector3f& v,
 }
 
 int AP_GeodesicGrid::_neighbor_umbrella_component(int idx,
-                                                  int comp_idx) const
+                                                  int comp_idx)
 {
     if (idx < 3) {
         return _neighbor_umbrellas[idx].components[comp_idx];
@@ -206,7 +206,7 @@ int AP_GeodesicGrid::_neighbor_umbrella_component(int idx,
 int AP_GeodesicGrid::_from_neighbor_umbrella(int idx,
                                              const Vector3f& v,
                                              const Vector3f& u,
-                                             bool inclusive) const
+                                             bool inclusive)
 {
     /* The following comparisons between the umbrella's first and second
      * vertices' coefficients work for this algorithm because all vertices'
@@ -301,7 +301,7 @@ int AP_GeodesicGrid::_from_neighbor_umbrella(int idx,
 }
 
 int AP_GeodesicGrid::_triangle_index(const Vector3f& v,
-                                     const bool inclusive) const
+                                     const bool inclusive)
 {
     /* w holds the coordinates of v with respect to the basis comprised by the
      * vectors of T_i */
@@ -436,7 +436,7 @@ int AP_GeodesicGrid::_triangle_index(const Vector3f& v,
 
 int AP_GeodesicGrid::_subtriangle_index(const unsigned int triangle_index,
                                         const Vector3f& v,
-                                        const bool inclusive) const
+                                        const bool inclusive)
 {
     /* w holds the coordinates of v with respect to the basis comprised by the
      * vectors of the middle triangle of T_i where i is triangle_index */

libraries/AP_Math/AP_GeodesicGrid.h

@@ -123,7 +123,7 @@ public:
      * the null vector or the section isn't found, which might happen when \p
      * inclusive is false.
      */
-    int section(const Vector3f& v, const bool inclusive = false) const;
+    static int section(const Vector3f& v, const bool inclusive = false);
 
 private:
     /*
@@ -235,8 +235,8 @@ private:
      *
      * @return The icosahedron triangle's index of the component.
      */
-    int _neighbor_umbrella_component(int umbrella_index,
+    static int _neighbor_umbrella_component(int umbrella_index,
-                                     int component_index) const;
+                                            int component_index);
     /**
      * Find the icosahedron triangle index of the component of
      * #_neighbor_umbrellas[umbrella_index] that is crossed by \p v.
@@ -256,10 +256,10 @@ private:
      * if \p v is the null vector or the triangle isn't found, which might
      * happen when \p inclusive is false.
      */
-    int _from_neighbor_umbrella(int umbrella_index,
+    static int _from_neighbor_umbrella(int umbrella_index,
-                                const Vector3f& v,
+                                       const Vector3f& v,
-                                const Vector3f& u,
+                                       const Vector3f& u,
-                                bool inclusive) const;
+                                       bool inclusive);
 
     /**
      * Find which icosahedron's triangle is crossed by \p v.
@@ -272,7 +272,7 @@ private:
      * @return The index of the triangle. The value -1 is returned if the
      * triangle isn't found, which might happen when \p inclusive is false.
      */
-    int _triangle_index(const Vector3f& v, const bool inclusive) const;
+    static int _triangle_index(const Vector3f& v, const bool inclusive);
 
     /**
      * Find which sub-triangle of the icosahedron's triangle pointed by \p
@@ -292,7 +292,7 @@ private:
      * @return The index of the sub-triangle. The value -1 is returned if the
      * triangle isn't found, which might happen when \p inclusive is false.
      */
-    int _subtriangle_index(const unsigned int triangle_index,
+    static int _subtriangle_index(const unsigned int triangle_index,
-                           const Vector3f& v,
+                                  const Vector3f& v,
-                           const bool inclusive) const;
+                                  const bool inclusive);
 };

libraries/AP_Math/benchmarks/benchmark_geodesic_grid.cpp

@@ -18,8 +18,6 @@
 
 #include <AP_Math/AP_GeodesicGrid.h>
 
-static AP_GeodesicGrid grid;
-
 static const Vector3f triangles[20][3] = {
     {{-M_GOLDEN, 1, 0}, {-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}},
     {{-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN,-1}},
@@ -92,7 +90,7 @@ static void BM_GeodesicGridSections(benchmark::State& state)
     v = (a + b + c) / 3.0f;
 
     while (state.KeepRunning()) {
-        int s = grid.section(v);
+        int s = AP_GeodesicGrid::section(v);
         gbenchmark_escape(&s);
     }
 }

libraries/AP_Math/tests/test_geodesic_grid.cpp

@@ -42,8 +42,6 @@ public:
 
 class GeodesicGridTest : public ::testing::TestWithParam<TestParam> {
 protected:
-    static AP_GeodesicGrid grid;
-
     /**
      * Test the functions for triangles indexes.
      *
@@ -51,25 +49,28 @@ protected:
      */
     void test_triangles_indexes(const TestParam& p) {
         if (p.section >= 0) {
-            int expected_triangle = p.section / grid.NUM_SUBTRIANGLES;
+            int expected_triangle =
-            int triangle = grid._triangle_index(p.v, false);
+                    p.section / AP_GeodesicGrid::NUM_SUBTRIANGLES;
+            int triangle = AP_GeodesicGrid::_triangle_index(p.v, false);
             ASSERT_EQ(expected_triangle, triangle);
 
-            int expected_subtriangle = p.section % grid.NUM_SUBTRIANGLES;
+            int expected_subtriangle =
-            int subtriangle = grid._subtriangle_index(triangle, p.v, false);
+                    p.section % AP_GeodesicGrid::NUM_SUBTRIANGLES;
+            int subtriangle =
+                    AP_GeodesicGrid::_subtriangle_index(triangle, p.v, false);
             ASSERT_EQ(expected_subtriangle, subtriangle);
         } else {
-            int triangle = grid._triangle_index(p.v, false);
+            int triangle = AP_GeodesicGrid::_triangle_index(p.v, false);
             if (triangle >= 0) {
-                int subtriangle = grid._subtriangle_index(triangle, p.v, false);
+                int subtriangle = AP_GeodesicGrid::_subtriangle_index(triangle,
+                                                                      p.v,
+                                                                      false);
                 ASSERT_EQ(-1, subtriangle) << "triangle is " << triangle;
             }
         }
     }
 };
 
-AP_GeodesicGrid GeodesicGridTest::grid;
-
 static const Vector3f triangles[20][3] = {
     {{-M_GOLDEN, 1, 0}, {-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}},
     {{-1, 0,-M_GOLDEN}, {-M_GOLDEN,-1, 0}, { 0,-M_GOLDEN,-1}},
@@ -140,10 +141,10 @@ TEST_P(GeodesicGridTest, Sections)
     auto p = GetParam();
 
     test_triangles_indexes(p);
-    EXPECT_EQ(p.section, grid.section(p.v));
+    EXPECT_EQ(p.section, AP_GeodesicGrid::section(p.v));
 
     if (p.section < 0) {
-        int s = grid.section(p.v, true);
+        int s = AP_GeodesicGrid::section(p.v, true);
         int i;
         for (i = 0; p.inclusive_sections[i] > 0; i++) {
             assert(i < 7);