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AP_Math: move zeroing to header, use memset, reuse in identity #28423

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Nov 4, 2024
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AP_Math: move zeroing to header, use memset, reuse in identity #28423

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8 changes: 0 additions & 8 deletions libraries/AP_Math/matrix3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -227,14 +227,6 @@ bool Matrix3<T>::invert()
return success;
}

template <typename T>
void Matrix3<T>::zero(void)
{
a.x = a.y = a.z = 0;
b.x = b.y = b.z = 0;
c.x = c.y = c.z = 0;
}

// create rotation matrix for rotation about the vector v by angle theta
// See: http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToMatrix/
template <typename T>
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8 changes: 4 additions & 4 deletions libraries/AP_Math/matrix3.h
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Original file line number Diff line number Diff line change
Expand Up @@ -219,14 +219,14 @@ class Matrix3 {
bool invert() WARN_IF_UNUSED;

// zero the matrix
void zero(void);
void zero(void) {
memset((void*)this, 0, sizeof(*this));
}

// setup the identity matrix
void identity(void) {
zero();
a.x = b.y = c.z = 1;
a.y = a.z = 0;
b.x = b.z = 0;
c.x = c.y = 0;
}

// check if any elements are NAN
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