add braces around statements and cleanup formatting (#107)

PX4 · Nov 13, 2019 · cd185c9 · cd185c9
1 parent 38e966c
commit cd185c9
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Showing 2 changed files with 18 additions and 10 deletions.
diff --git a/matrix/Matrix.hpp b/matrix/Matrix.hpp
@@ -587,9 +587,13 @@ Type min(const Type x, const Type y) {
     bool x_is_nan = isnan(x);
     bool y_is_nan = isnan(y);
     // z > nan for z != nan is required by C the standard
-    if(x_is_nan || y_is_nan) {
-        if(x_is_nan && !y_is_nan) return y;
-        if(!x_is_nan && y_is_nan) return x;
+    if (x_is_nan || y_is_nan) {
+        if (x_is_nan && !y_is_nan) {
+            return y;
+        }
+        if (!x_is_nan && y_is_nan) {
+            return x;
+        }
         return x;
     }
     return (x < y) ? x : y;
@@ -599,16 +603,20 @@ Type max(const Type x, const Type y) {
     bool x_is_nan = isnan(x);
     bool y_is_nan = isnan(y);
     // z > nan for z != nan is required by C the standard
-    if(x_is_nan || y_is_nan) {
-        if(x_is_nan && !y_is_nan) return y;
-        if(!x_is_nan && y_is_nan) return x;
+    if (x_is_nan || y_is_nan) {
+        if (x_is_nan && !y_is_nan) {
+            return y;
+        }
+        if (!x_is_nan && y_is_nan) {
+            return x;
+        }
         return x;
     }
     return (x > y) ? x : y;
 }
 template<typename Type>
 Type constrain(const Type x, const Type lower_bound, const Type upper_bound) {
-    if(lower_bound > upper_bound) {
+    if (lower_bound > upper_bound) {
         return NAN;
     } else if(isnan(x)) {
         return NAN;
@@ -677,7 +685,7 @@ Matrix<Type, M, N> constrain(const Matrix<Type, M, N> &x,
                              const Type scalar_lower_bound,
                              const Type scalar_upper_bound) {
     Matrix<Type,M,N> m;
-    if(scalar_lower_bound > scalar_upper_bound) {
+    if (scalar_lower_bound > scalar_upper_bound) {
         m.setNaN();
     } else {
         for (size_t i = 0; i < M; i++) {

diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
@@ -65,7 +65,7 @@ class SquareMatrix : public Matrix<Type, M, M>
     inline SquareMatrix<Type, M> I() const
     {
         SquareMatrix<Type, M> i;
-        if(inv(*this, i)) {
+        if (inv(*this, i)) {
             return i;
         } else {
             i.setZero();
@@ -289,7 +289,7 @@ template<typename Type, size_t M>
 SquareMatrix<Type, M> inv(const SquareMatrix<Type, M> & A)
 {
     SquareMatrix<Type, M> i;
-    if(inv(A, i)) {
+    if (inv(A, i)) {
         return i;
     } else {
         i.setZero();