TEMP

cmake/px4_add_common_flags.cmake

@@ -68,7 +68,7 @@ function(px4_add_common_flags)
 		# Warnings
 		-Wall
 		-Wextra
-		-Werror
+		#-Werror
 
 		-Warray-bounds
 		-Wcast-align

src/lib/matrix/matrix/Dcm.hpp

@@ -16,6 +16,7 @@
 #pragma once
 
 #include "math.hpp"
+#include "SquareMatrix.hpp"
 
 namespace matrix
 {

src/lib/matrix/matrix/Dcm2.hpp

@@ -48,7 +48,8 @@
 
 #pragma once
 
-#include "math.hpp"
+#include "SquareMatrix.hpp"
+#include "Vector2.hpp"
 
 namespace matrix
 {
@@ -115,8 +116,8 @@ class Dcm2 : public SquareMatrix<Type, 2>
 	{
 		/* renormalize rows */
 		for (size_t r = 0; r < 2; r++) {
-			matrix::Vector2<Type> rvec(Matrix<Type, 1, 2>(this->Matrix<Type, 2, 2>::row(r)).transpose());
-			this->Matrix<Type, 2, 2>::row(r) = rvec.normalized();
+			matrix::Vector2<Type> rvec(Matrix<Type, 1, 2>(this->row(r)).transpose());
+			this->row(r) = rvec.normalized();
 		}
 	}
 };

src/lib/matrix/matrix/Matrix.hpp

@@ -12,20 +12,14 @@
 #include <cstdio>
 #include <cstring>
 
-#include "math.hpp"
+#include "Slice.hpp"
 
 namespace matrix
 {
 
 template <typename Type, size_t M>
 class Vector;
 
-template<typename Type, size_t M, size_t N>
-class Matrix;
-
-template <typename Type, size_t P, size_t Q, size_t M, size_t N>
-class Slice;
-
 template<typename Type, size_t M, size_t N>
 class Matrix
 {
@@ -75,6 +69,18 @@ class Matrix
 		}
 	}
 
+	template<size_t P, size_t Q>
+	Matrix(const ConstSlice<Type, M, N, P, Q> &in_slice)
+	{
+		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) = in_slice(i, j);
+			}
+		}
+	}
+
 	/**
 	 * Accessors/ Assignment etc.
 	 */
@@ -395,18 +401,18 @@ class Matrix
 	}
 
 	template<size_t P, size_t Q>
-	const Slice<Type, P, Q, M, N> slice(size_t x0, size_t y0) const
+	ConstSlice<Type, P, Q, M, N> slice(size_t x0, size_t y0) const
 	{
-		return Slice<Type, P, Q, M, N>(x0, y0, this);
+		return {x0, y0, this};
 	}
 
 	template<size_t P, size_t Q>
 	Slice<Type, P, Q, M, N> slice(size_t x0, size_t y0)
 	{
-		return Slice<Type, P, Q, M, N>(x0, y0, this);
+		return {x0, y0, this};
 	}
 
-	const Slice<Type, 1, N, M, N> row(size_t i) const
+	ConstSlice<Type, 1, N, M, N> row(size_t i) const
 	{
 		return slice<1, N>(i, 0);
 	}
@@ -416,7 +422,7 @@ class Matrix
 		return slice<1, N>(i, 0);
 	}
 
-	const Slice<Type, M, 1, M, N> col(size_t j) const
+	ConstSlice<Type, M, 1, M, N> col(size_t j) const
 	{
 		return slice<M, 1>(0, j);
 	}