Classes
class	CircularBuffer
	Simple Circular Buffer for data storage. More...
class	DataIO
	Class for inter-object communication. More...
class	DataIOBase
class	GraphTreeObject
	Base class for object organization. More...
class	Queue
	Simple first in, first out queue for data storage. More...
class	Time
	Wrapper to manage and convert time as timespce. More...
class	CartesianVector
	Standard vector class derived from Matrix. More...
class	Matrix
	Matrix math implementation. More...
class	DCM
	Class defining a direction cosine matrix inherited from Matrix. More...
class	Euler321
	Class defining a 3-2-1 Euler angle sequence. More...
class	MRP
	Modified Rodrigues Parameter class definiton. More...
class	Quaternion
	Quaternion class for attitude representation. More...
class	JsonCdl
	Load JSON file using jsmn utility. More...
class	Interpolator
	A class for performing simple x-y linear interpolation. More...
class	PersistenceTracker
	Track the persistence of a threshold. More...

Enumerations
enum	dataio_types_e : uint8 { INTEGER , FLOATING_POINT , VECTOR , ARRAY , MATRIX , GRAPH_TREE , POINTER , STD_STRING , UNDEFINED , C_STRING , TIME }
enum	graph_tree_types_e : int8 { BASE_GRAPH_TREE = 0 , DATAIO = 1 , TASK = 2 , EXECUTIVE = 3 , FRAME = 4 , BODY = 5 , NODE = 6 }
enum	cdl_types_e : uint8 { INT32_TP , FPOINT_TP , CARTESIANVECTOR3_TP , QUATERNION_TP }
	Type definition for CDL types which may be loaded. More...

Functions
void	connectSignals (clockwerk::DataIOBase &upstream, clockwerk::DataIOBase &downstream)
	Function to tie two signals together.
void	disconnect (clockwerk::DataIOBase &obj)
	Function to disconnect a DataIO object from its parent.
template<uint32 R1, uint32 C1R2, uint32 C2>
void	multiply (const Matrix< R1, C1R2 > &A, const Matrix< C1R2, C2 > &B, Matrix< R1, C2 > &result)
	Function to multiply two matrices.
template<uint32 R, uint32 C>
void	multiply (const floating_point &a, const Matrix< R, C > &A, Matrix< R, C > &result)
	Function to multiply a scalar by a matrix.
template<uint32 R, uint32 C>
void	eMultiply (const Matrix< R, C > &A, const Matrix< R, C > &B, Matrix< R, C > &result)
	Function to multiply two matrices element-wise.
template<uint32 R, uint32 C>
void	add (const floating_point &a, const Matrix< R, C > &A, Matrix< R, C > &result)
	Function to add a scalar to a matrix.
template<uint32 R, uint32 C>
void	eAdd (const Matrix< R, C > &A, const Matrix< R, C > &B, Matrix< R, C > &result)
	Function to add two matrices element-wise.
template<uint32 R, uint32 C>
void	eSubtract (Matrix< R, C > A, Matrix< R, C > B, Matrix< R, C > &result)
	Function to subtract B from A, element-wise.
template<uint32 R1, uint32 C1R2, uint32 C2>
Matrix< R1, C2 >	operator* (const Matrix< R1, C1R2 > &A, const Matrix< C1R2, C2 > &B)
	Overload of matrix multiplication - Two matrices.
template<uint32 R, uint32 C>
Matrix< R, C >	operator* (const floating_point &a, const Matrix< R, C > &A)
	Overload of matrix multiplication - Matrix and scalar.
template<uint32 R, uint32 C>
Matrix< R, C >	operator* (const Matrix< R, C > &A, const floating_point &a)
template<uint32 R, uint32 C>
Matrix< R, C >	operator+ (const Matrix< R, C > &A, const Matrix< R, C > &B)
	Overload of matrix addition - Two matrices.
template<uint32 R, uint32 C>
Matrix< R, C >	operator+ (const floating_point &a, const Matrix< R, C > &A)
	Overload of matrix addition - Matrix and scalar.
template<uint32 R, uint32 C>
Matrix< R, C >	operator+ (const Matrix< R, C > &A, const floating_point &a)
template<uint32 R, uint32 C>
Matrix< R, C >	operator- (const Matrix< R, C > &A, const Matrix< R, C > &B)
	Returns value – less efficient in some cases.
template<uint32 M, uint32 K>
int16	cholSolve (const Matrix< M, M > &A, const Matrix< M, K > &B, Matrix< M, K > &X)
	Perform cholesky solve Ax=b on square, posdef matrix A and put the solution in X.
int16	safeDivide (float a, float b, float &result)
	Overloaded functions to perform safe division.
int16	safeDivide (double a, double b, double &result)
int16	safeDivide (int32 a, int32 b, int32 &result)
int16	safeDivide (uint64 a, uint64 b, uint64 &result)
int16	safeSqrt (float input, float &result)
	Overloaded functions to perform safe square root.
int16	safeSqrt (double input, double &result)
int16	safeNroot (float input, int32 rt, float &result)
	Overloaded functions to perform safe n root.
int16	safeNroot (double input, int32 rt, double &result)
int16	safeAcos (float input, float &result)
	Overloaded functions to perform save cosine inverse.
int16	safeAcos (double input, double &result)
int16	safeAsin (float input, float &result)
	Overloaded functions to perform save sine inverse.
int16	safeAsin (double input, double &result)
int16	safeTan (float input, float &result)
	Overloaded functions to perform safe tangent.
int16	safeTan (double input, double &result)
bool	floatEquals (floating_point a, floating_point b, floating_point tolerance=1e-6)
	Compares if two floats are equal within a certain range.
int16	sgn (floating_point val)
	Return the sign of the value.
void	cross (CartesianVector< 3 > a, CartesianVector< 3 > b, CartesianVector< 3 > &result)
CartesianVector< 3 >	cross (const CartesianVector< 3 > &a, const CartesianVector< 3 > &b)
void	tilde (const CartesianVector< 3 > &v, Matrix< 3, 3 > &t)
Matrix< 3, 3 >	tilde (const CartesianVector< 3 > &v)
template<uint32 L>
void	dot (const CartesianVector< L > &a, const CartesianVector< L > &b, floating_point &result)
template<uint32 L>
floating_point	dot (const CartesianVector< L > &a, const CartesianVector< L > &b)
template<uint32 R1, uint32 C1R2>
CartesianVector< R1 >	operator* (const Matrix< R1, C1R2 > &A, const CartesianVector< C1R2 > &B)
	Overload of matrix multiplication - Matrix and vector.
template<uint32 L>
CartesianVector< L >	operator* (const floating_point &a, const CartesianVector< L > &A)
	Overload of vector multiplication - vector and scalar.
template<uint32 L>
CartesianVector< L >	operator* (const CartesianVector< L > &A, const floating_point &a)
template<uint32 L>
CartesianVector< L >	operator+ (const CartesianVector< L > &A, const CartesianVector< L > &B)
	Overload of matrix addition - Two matrices.
template<uint32 L>
CartesianVector< L >	operator+ (const floating_point &a, const CartesianVector< L > &A)
	Overload of matrix addition - Matrix and scalar.
template<uint32 L>
CartesianVector< L >	operator+ (const CartesianVector< L > &A, const floating_point &a)
template<uint32 L>
CartesianVector< L >	operator- (const CartesianVector< L > &A, const CartesianVector< L > &B)
	Returns value – less efficient in some cases.
DCM	operator* (const DCM &A, const DCM &B)
	Overload of DCM multiplication - Two DCMs.
Euler321	operator* (const Euler321 &a, const Euler321 &b)
	Overload of Euler321 multiplication - Two Euler321s.
MRP	operator* (const MRP &a, const MRP &b)
	Overload of MRP multiplication - Two MRPs.
CartesianVector< 3 >	operator* (const DCM &A, const CartesianVector< 3 > &b)
	Attitude rotation of vector via DCM.
CartesianVector< 3 >	operator* (const Euler321 &a, const CartesianVector< 3 > &b)
	Attitude rotation of vector via Euler321.
CartesianVector< 3 >	operator* (const MRP &a, const CartesianVector< 3 > &b)
	Attitude rotation of vector via MRP.
void	toUpper (char *input)
	Converts a C-style string to uppercase in place.
void	toLower (char *input)
	Converts a C-style string to lowercase in place.
bool	caseInsensitiveEqual (const char a, const char b)
	Compares two C-style strings case-insensitively.
int16	strip (const char input, char output, size_t output_size)
	Removes leading and trailing whitespace from an input string.
int16	stringReplace (const char source, const char orig, const char repl, char output, size_t output_size)
	Replaces the first occurrence of a substring with another string.
int16	splitString (const char text, const char delimiter, char *tokens, size_t max_tokens, char token_buf, size_t token_buf_size)
	Splits a string using a specified delimiter.
bool	isValidNumber (const char *s)
	Checks whether a C-style string represents a valid number.
int16	numberToString (int64 num, char *out, size_t out_size)
int16	numberToString (int32 num, char *out, size_t out_size)
int16	numberToString (int16 num, char *out, size_t out_size)
int16	numberToString (int8 num, char *out, size_t out_size)
int16	numberToString (bool num, char *out, size_t out_size)
	Converts an integer to a C-style string.
int16	numberToString (uint64 num, char *out, size_t out_size)
int16	numberToString (uint32 num, char *out, size_t out_size)
int16	numberToString (uint16 num, char *out, size_t out_size)
int16	numberToString (uint8 num, char *out, size_t out_size)
int16	numberToString (char num, char *out, size_t out_size)
	Converts a char to a C-style string.
int16	numberToString (float num, char *out, size_t out_size, uint8 precision=6)
	Converts a float to a C-style string with a specified precision.
int16	numberToString (float16 num, char *out, size_t out_size, uint8 precision=3)
	Converts a float16 to a C-style string with a specified precision.
int16	numberToString (double num, char *out, size_t out_size, uint8 precision=6)
	Converts a double to a C-style string with a specified precision.
int16	numberFromString (const char *s, uint8 &num)
	Overloaded - convert string to number.
int16	numberFromString (const char *s, uint16 &num)
int16	numberFromString (const char *s, uint32 &num)
int16	numberFromString (const char *s, uint64 &num)
int16	numberFromString (const char *s, int8 &num)
int16	numberFromString (const char *s, int16 &num)
int16	numberFromString (const char *s, int32 &num)
int16	numberFromString (const char *s, int64 &num)
int16	numberFromString (const char *s, float &num)
int16	numberFromString (const char *s, double &num)
size_t	strnlen (const char *s, size_t maxlen)
	Function to calculate the string length with a length bound.
template<typename T>
int16	setArrayFromString (const char s, T array, size_t array_size)
	Converts a bracket-enclosed comma-separated string to a float array.
template<size_t N>
int16	numberToString (const std::array< char, N > &val, char *retval, size_t size)
	Converts an array to a C-style string.
template<typename Tn, size_t N>
int16	numberToString (const std::array< Tn, N > &val, char *retval, size_t size)
	Converts an array to a C-style string.

Variables
const floating_point	NSEC_PER_SEC_D = 1000000000.0
const uint16	MSEC_PER_SEC_I = 1000
const uint32	NSEC_PER_MSEC_I = 1000000
const uint32	NSEC_PER_SEC_I = 1000000000
const uint32	MAX_CHARS_PER_MATRIX_STRING = 1000
const uint8	QUATERNION_NUM_ELEMENTS = 4
	Constant for the number of elements in a quaternion.
const uint8	MAX_CHARS_PER_STRING_VALUE = 32
const uint16	MAX_CHARS_PER_ARRAY_STRING = 200

Enumeration Type Documentation

◆ cdl_types_e

enum clockwerk::cdl_types_e : uint8

Type definition for CDL types which may be loaded.

Enumerator
INT32_TP	Integer type – can be single value or array.
FPOINT_TP	floating_point type – can be single value or array
CARTESIANVECTOR3_TP	Cartesian vector type – is floating_point based.
QUATERNION_TP	Quaternion type – is floating_point based.

◆ dataio_types_e

enum clockwerk::dataio_types_e : uint8

This enumeration stores information on the data type held within the DataIO object. The storage defines data types primarily for logging, which is used in simulation.

Enumerator
INTEGER
FLOATING_POINT
VECTOR
ARRAY
MATRIX
GRAPH_TREE
POINTER
STD_STRING
UNDEFINED
C_STRING
TIME

◆ graph_tree_types_e

enum clockwerk::graph_tree_types_e : int8

This enumeration defines the possible derivations of the graph tree object which may be used to store helpful information on it. It's messy but it works well. Derivations may be added here as they are developed. If not, they will default to not defined.

Enumerator
BASE_GRAPH_TREE
DATAIO
TASK
EXECUTIVE
FRAME
BODY
NODE

Function Documentation

◆ add()

template<uint32 R, uint32 C>

void clockwerk::add	(	const floating_point &	a,
		const Matrix< R, C > &	A,
		Matrix< R, C > &	result )

Function to add a scalar to a matrix.

Parameters

a	Scalar to add to A
A	Matrix in the scalar addition operation
result	PBR return of a+A result

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ caseInsensitiveEqual()

bool clockwerk::caseInsensitiveEqual	(	const char *	a,
		const char *	b )

Compares two C-style strings case-insensitively.

Parameters

[in]	a	First null-terminated string.
[in]	b	Second null-terminated string.

Returns: true if the strings match ignoring case, false otherwise.

◆ cholSolve()

template<uint32 M, uint32 K>

int16 clockwerk::cholSolve	(	const Matrix< M, M > &	A,
		const Matrix< M, K > &	B,
		Matrix< M, K > &	X )

Perform cholesky solve Ax=b on square, posdef matrix A and put the solution in X.

Template Parameters

M	The number of rows/cols of matrix A
K	The number of columns of X and B

Parameters

A	The matrix to solve and take cholesky decomposition on
B	The solution vector
X	Implicit return of X in AX=B

Returns: Error code corresponding to success/failure

◆ connectSignals()

void clockwerk::connectSignals	(	clockwerk::DataIOBase &	upstream,
		clockwerk::DataIOBase &	downstream )

Function to tie two signals together.

Parameters

upstream	The upstream (i.e. output) signal to connect
downstream	The downstream (i.e. input) signal to connect

◆ cross() [1/2]

void clockwerk::cross	(	CartesianVector< 3 >	a,
		CartesianVector< 3 >	b,
		CartesianVector< 3 > &	result )

◆ cross() [2/2]

CartesianVector< 3 > clockwerk::cross	(	const CartesianVector< 3 > &	a,
		const CartesianVector< 3 > &	b )

◆ disconnect()

void clockwerk::disconnect ( clockwerk::DataIOBase & obj )

Function to disconnect a DataIO object from its parent.

Parameters

obj	The object to disconnect from upstream

◆ dot() [1/2]

template<uint32 L>

floating_point clockwerk::dot	(	const CartesianVector< L > &	a,
		const CartesianVector< L > &	b )

◆ dot() [2/2]

template<uint32 L>

void clockwerk::dot	(	const CartesianVector< L > &	a,
		const CartesianVector< L > &	b,
		floating_point &	result )

◆ eAdd()

template<uint32 R, uint32 C>

void clockwerk::eAdd	(	const Matrix< R, C > &	A,
		const Matrix< R, C > &	B,
		Matrix< R, C > &	result )

Function to add two matrices element-wise.

Parameters

A	First matrix in the element-wise addition operation
B	Second matrix in the element-wise addition operation
result	PBR return of A+B result

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ eMultiply()

template<uint32 R, uint32 C>

void clockwerk::eMultiply	(	const Matrix< R, C > &	A,
		const Matrix< R, C > &	B,
		Matrix< R, C > &	result )

Function to multiply two matrices element-wise.

Parameters

A	First matrix in the element-wise multiplication operation
B	Second matrix in the element-wise multiplication operation
result	PBR return of A.*B result

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ eSubtract()

template<uint32 R, uint32 C>

void clockwerk::eSubtract	(	Matrix< R, C >	A,
		Matrix< R, C >	B,
		Matrix< R, C > &	result )

Function to subtract B from A, element-wise.

Parameters

A	First matrix in the element-wise subtraction operation
B	Second matrix in the element-wise subtraction operation
result	PBR return of A-B result

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ floatEquals()

bool clockwerk::floatEquals	(	floating_point	a,
		floating_point	b,
		floating_point	tolerance = 1e-6 )

Compares if two floats are equal within a certain range.

Parameters

a	First float to compare
b	Second float to compare
tolerance	Tolerance between float compares, default 1e-6

Returns: True if they are effectively equal, false if not

◆ isValidNumber()

bool clockwerk::isValidNumber ( const char * s )

Checks whether a C-style string represents a valid number.

Parameters

[in] s Null-terminated string to check.

Returns: true if the string is a valid number, false otherwise.

◆ multiply() [1/2]

template<uint32 R, uint32 C>

void clockwerk::multiply	(	const floating_point &	a,
		const Matrix< R, C > &	A,
		Matrix< R, C > &	result )

Function to multiply a scalar by a matrix.

Parameters

a	Scalar by which to multiply A
A	Matrix in the scalar multiplication operation
result	PBR return of a*A result

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ multiply() [2/2]

template<uint32 R1, uint32 C1R2, uint32 C2>

void clockwerk::multiply	(	const Matrix< R1, C1R2 > &	A,
		const Matrix< C1R2, C2 > &	B,
		Matrix< R1, C2 > &	result )

Function to multiply two matrices.

Standard functions

Parameters

A	First matrix in the multiplication operation
B	Second matrix in the multiplication operation
result	PBR return of A*B result

Returns: Error code corresponding to errors in clockwerkerrors.h

Note: Here we are using the "standard" O^3 matrix multiplication algorithm. Quick lookup indicates that more highly optimized matrix multiplication algorithms, such as strassen, require much larger sizes than we will typically be working with to be valuable.

◆ numberFromString() [1/10]

int16 clockwerk::numberFromString	(	const char *	s,
		double &	num )

◆ numberFromString() [2/10]

int16 clockwerk::numberFromString	(	const char *	s,
		float &	num )

◆ numberFromString() [3/10]

int16 clockwerk::numberFromString	(	const char *	s,
		int16 &	num )

◆ numberFromString() [4/10]

int16 clockwerk::numberFromString	(	const char *	s,
		int32 &	num )

◆ numberFromString() [5/10]

int16 clockwerk::numberFromString	(	const char *	s,
		int64 &	num )

◆ numberFromString() [6/10]

int16 clockwerk::numberFromString	(	const char *	s,
		int8 &	num )

◆ numberFromString() [7/10]

int16 clockwerk::numberFromString	(	const char *	s,
		uint16 &	num )

◆ numberFromString() [8/10]

int16 clockwerk::numberFromString	(	const char *	s,
		uint32 &	num )

◆ numberFromString() [9/10]

int16 clockwerk::numberFromString	(	const char *	s,
		uint64 &	num )

◆ numberFromString() [10/10]

int16 clockwerk::numberFromString	(	const char *	s,
		uint8 &	num )

Overloaded - convert string to number.

Parameters

s	The string to convert
num	Implicit return of the converted number

Returns: Error code corresponding to success/failure

◆ numberToString() [1/15]

int16 clockwerk::numberToString	(	bool	num,
		char *	out,
		size_t	out_size )

Converts an integer to a C-style string.

Parameters

[in]	num	The integer value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [2/15]

int16 clockwerk::numberToString	(	char	num,
		char *	out,
		size_t	out_size )

Converts a char to a C-style string.

Parameters

[in]	num	The value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [3/15]

template<size_t N>

int16 clockwerk::numberToString	(	const std::array< char, N > &	val,
		char *	retval,
		size_t	size )

Converts an array to a C-style string.

Parameters

[in]	num	The value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [4/15]

template<typename Tn, size_t N>

int16 clockwerk::numberToString	(	const std::array< Tn, N > &	val,
		char *	retval,
		size_t	size )

Converts an array to a C-style string.

Parameters

[in]	num	The value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [5/15]

int16 clockwerk::numberToString	(	double	num,
		char *	out,
		size_t	out_size,
		uint8	precision = 6 )

Converts a double to a C-style string with a specified precision.

Parameters

[in]	num	The double value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.
[in]	precision	Number of decimal places to include. Must be 0-->9 and rounds to 9 if above

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [6/15]

int16 clockwerk::numberToString	(	float	num,
		char *	out,
		size_t	out_size,
		uint8	precision = 6 )

Converts a float to a C-style string with a specified precision.

Parameters

[in]	num	The float value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.
[in]	precision	Number of decimal places to include. Must be 0-->9 and rounds to 9 if above

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [7/15]

int16 clockwerk::numberToString	(	float16	num,
		char *	out,
		size_t	out_size,
		uint8	precision = 3 )

Converts a float16 to a C-style string with a specified precision.

Parameters

[in]	num	The float16 value to convert.
[out]	out	Output buffer to store the string.
[in]	out_size	Size of the output buffer.
[in]	precision	Number of decimal places to include. Must be 0-->9 and rounds to 9 if above

Returns: NO_ERROR on success, or error code if the buffer is too small.

◆ numberToString() [8/15]

int16 clockwerk::numberToString	(	int16	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [9/15]

int16 clockwerk::numberToString	(	int32	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [10/15]

int16 clockwerk::numberToString	(	int64	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [11/15]

int16 clockwerk::numberToString	(	int8	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [12/15]

int16 clockwerk::numberToString	(	uint16	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [13/15]

int16 clockwerk::numberToString	(	uint32	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [14/15]

int16 clockwerk::numberToString	(	uint64	num,
		char *	out,
		size_t	out_size )

◆ numberToString() [15/15]

int16 clockwerk::numberToString	(	uint8	num,
		char *	out,
		size_t	out_size )

◆ operator*() [1/12]

template<uint32 L>

CartesianVector< L > clockwerk::operator*	(	const CartesianVector< L > &	A,
		const floating_point &	a )

◆ operator*() [2/12]

CartesianVector< 3 > clockwerk::operator*	(	const DCM &	A,
		const CartesianVector< 3 > &	b )

Attitude rotation of vector via DCM.

Note: Returns value – less efficient in some cases

◆ operator*() [3/12]

DCM clockwerk::operator*	(	const DCM &	A,
		const DCM &	B )

Overload of DCM multiplication - Two DCMs.

Operator overloads – NOTE: May be less efficient than equivalent PBR function in some cases due to

return by value. Where overload is less efficient, it is explicitly noted.

Note: Returns value – less efficient in some cases

◆ operator*() [4/12]

CartesianVector< 3 > clockwerk::operator*	(	const Euler321 &	a,
		const CartesianVector< 3 > &	b )

Attitude rotation of vector via Euler321.

Note: Returns value – less efficient in some cases

◆ operator*() [5/12]

Euler321 clockwerk::operator*	(	const Euler321 &	a,
		const Euler321 &	b )

Overload of Euler321 multiplication - Two Euler321s.

Note: Returns value – less efficient in some cases; TODO: Update with more efficient multiplication rather than using DCM

◆ operator*() [6/12]

template<uint32 L>

CartesianVector< L > clockwerk::operator*	(	const floating_point &	a,
		const CartesianVector< L > &	A )

Overload of vector multiplication - vector and scalar.

Note: Returns value – less efficient in some cases

◆ operator*() [7/12]

template<uint32 R, uint32 C>

Matrix< R, C > clockwerk::operator*	(	const floating_point &	a,
		const Matrix< R, C > &	A )

Overload of matrix multiplication - Matrix and scalar.

Note: Returns value – less efficient in some cases

◆ operator*() [8/12]

template<uint32 R, uint32 C>

Matrix< R, C > clockwerk::operator*	(	const Matrix< R, C > &	A,
		const floating_point &	a )

◆ operator*() [9/12]

template<uint32 R1, uint32 C1R2>

CartesianVector< R1 > clockwerk::operator*	(	const Matrix< R1, C1R2 > &	A,
		const CartesianVector< C1R2 > &	B )

Overload of matrix multiplication - Matrix and vector.

Operator overloads – NOTE: May be less efficient than equivalent PBR function in some cases due to

return by value. Where overload is less efficient, it is explicitly noted.

Note: Returns value – less efficient in some cases

◆ operator*() [10/12]

template<uint32 R1, uint32 C1R2, uint32 C2>

Matrix< R1, C2 > clockwerk::operator*	(	const Matrix< R1, C1R2 > &	A,
		const Matrix< C1R2, C2 > &	B )

Overload of matrix multiplication - Two matrices.

Operator overloads – NOTE: May be less efficient than equivalent PBR function in some cases due to

return by value. Where overload is less efficient, it is explicitly noted.

Note: Returns value – less efficient in some cases

◆ operator*() [11/12]

CartesianVector< 3 > clockwerk::operator*	(	const MRP &	a,
		const CartesianVector< 3 > &	b )

Attitude rotation of vector via MRP.

Note: Returns value – less efficient in some cases

◆ operator*() [12/12]

MRP clockwerk::operator*	(	const MRP &	a,
		const MRP &	b )

Overload of MRP multiplication - Two MRPs.

Note: Returns value – less efficient in some cases; TODO: Update with more efficient multiplication rather than using DCM

◆ operator+() [1/6]

template<uint32 L>

CartesianVector< L > clockwerk::operator+	(	const CartesianVector< L > &	A,
		const CartesianVector< L > &	B )

Overload of matrix addition - Two matrices.

Note: Returns value – less efficient in some cases

◆ operator+() [2/6]

template<uint32 L>

CartesianVector< L > clockwerk::operator+	(	const CartesianVector< L > &	A,
		const floating_point &	a )

◆ operator+() [3/6]

template<uint32 L>

CartesianVector< L > clockwerk::operator+	(	const floating_point &	a,
		const CartesianVector< L > &	A )

Overload of matrix addition - Matrix and scalar.

Note: Returns value – less efficient in some cases

◆ operator+() [4/6]

template<uint32 R, uint32 C>

Matrix< R, C > clockwerk::operator+	(	const floating_point &	a,
		const Matrix< R, C > &	A )

Overload of matrix addition - Matrix and scalar.

Note: Returns value – less efficient in some cases

◆ operator+() [5/6]

template<uint32 R, uint32 C>

Matrix< R, C > clockwerk::operator+	(	const Matrix< R, C > &	A,
		const floating_point &	a )

◆ operator+() [6/6]

template<uint32 R, uint32 C>

Matrix< R, C > clockwerk::operator+	(	const Matrix< R, C > &	A,
		const Matrix< R, C > &	B )

Overload of matrix addition - Two matrices.

Note: Returns value – less efficient in some cases

◆ operator-() [1/2]

template<uint32 L>

CartesianVector< L > clockwerk::operator-	(	const CartesianVector< L > &	A,
		const CartesianVector< L > &	B )

Returns value – less efficient in some cases.

◆ operator-() [2/2]

template<uint32 R, uint32 C>

Matrix< R, C > clockwerk::operator-	(	const Matrix< R, C > &	A,
		const Matrix< R, C > &	B )

Returns value – less efficient in some cases.

◆ safeAcos() [1/2]

int16 clockwerk::safeAcos	(	double	input,
		double &	result )

◆ safeAcos() [2/2]

int16 clockwerk::safeAcos	(	float	input,
		float &	result )

Overloaded functions to perform save cosine inverse.

Parameters

input	The input value to take cosine of
result	The result of the cos

Returns: Error code corresponding to success/failure

◆ safeAsin() [1/2]

int16 clockwerk::safeAsin	(	double	input,
		double &	result )

◆ safeAsin() [2/2]

int16 clockwerk::safeAsin	(	float	input,
		float &	result )

Overloaded functions to perform save sine inverse.

Parameters

input	The input value to take sine of
result	The result of the sin

Returns: Error code corresponding to success/failure

◆ safeDivide() [1/4]

int16 clockwerk::safeDivide	(	double	a,
		double	b,
		double &	result )

◆ safeDivide() [2/4]

int16 clockwerk::safeDivide	(	float	a,
		float	b,
		float &	result )

Overloaded functions to perform safe division.

Parameters

a	Dividend
b	Divisor
result	PBR value to receive result of division

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ safeDivide() [3/4]

int16 clockwerk::safeDivide	(	int32	a,
		int32	b,
		int32 &	result )

◆ safeDivide() [4/4]

int16 clockwerk::safeDivide	(	uint64	a,
		uint64	b,
		uint64 &	result )

◆ safeNroot() [1/2]

int16 clockwerk::safeNroot	(	double	input,
		int32	rt,
		double &	result )

◆ safeNroot() [2/2]

int16 clockwerk::safeNroot	(	float	input,
		int32	rt,
		float &	result )

Overloaded functions to perform safe n root.

Parameters

input	The value to take the n root of
rt	The degree of root to take
result	PBR value to receive result of n-root

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ safeSqrt() [1/2]

int16 clockwerk::safeSqrt	(	double	input,
		double &	result )

◆ safeSqrt() [2/2]

int16 clockwerk::safeSqrt	(	float	input,
		float &	result )

Overloaded functions to perform safe square root.

Parameters

input	The value to take the square root of
result	PBR value to receive result of square

Returns: Error code corresponding to errors in clockwerkerrors.h

◆ safeTan() [1/2]

int16 clockwerk::safeTan	(	double	input,
		double &	result )

◆ safeTan() [2/2]

int16 clockwerk::safeTan	(	float	input,
		float &	result )

Overloaded functions to perform safe tangent.

Parameters

input	The input value to take tangent of
result	The result of the tangent

Returns: Error code corresponding to success/failure

◆ setArrayFromString()

template<typename T>

int16 clockwerk::setArrayFromString	(	const char *	s,
		T *	array,
		size_t	array_size )

Converts a bracket-enclosed comma-separated string to a float array.

Example string: "[1.0,2.5,3.4]"

Parameters

[in]	s	Null-terminated string in bracketed format.
[out]	array	Destination array to receive parsed floats.
[in]	array_size	Expected size of the array to populate.

Returns: NO_ERROR on success, or an error code on failure.

◆ sgn()

int16 clockwerk::sgn ( floating_point val )

Return the sign of the value.

Parameters

val	The value to return the sign of

Returns

◆ splitString()

int16 clockwerk::splitString	(	const char *	text,
		const char *	delimiter,
		char **	tokens,
		size_t	max_tokens,
		char *	token_buf,
		size_t	token_buf_size )

Splits a string using a specified delimiter.

This function tokenizes the input text, placing pointers to each token in the tokens array, and stores the tokens themselves in a provided static buffer.

Parameters

[in]	text	Input null-terminated string to split.
[in]	delimiter	Delimiter string.
[out]	tokens	Array of pointers to store token locations.
[in]	max_tokens	Maximum number of tokens to store in the array.
[out]	token_buf	Buffer to store token strings.
[in]	token_buf_size	Size of token_buf.

Returns: Number of tokens found, or negative error code on failure.

◆ stringReplace()

int16 clockwerk::stringReplace	(	const char *	source,
		const char *	orig,
		const char *	repl,
		char *	output,
		size_t	output_size )

Replaces the first occurrence of a substring with another string.

Writes the result to the provided output buffer.

Parameters

[in]	source	Input source string.
[in]	orig	Substring to search for in the source.
[in]	repl	Replacement substring.
[out]	output	Output buffer to receive the new string.
[in]	output_size	Size of the output buffer, including null terminator.

Returns: NO_ERROR on success, or error code if buffer too small or null.

◆ strip()

int16 clockwerk::strip	(	const char *	input,
		char *	output,
		size_t	output_size )

Removes leading and trailing whitespace from an input string.

Copies the stripped result into the provided output buffer.

Parameters

[in]	input	Input null-terminated string.
[out]	output	Output buffer to receive stripped string.
[in]	output_size	Size of the output buffer, including space for null terminator.

Returns: NO_ERROR on success, or error code if buffer too small or null.

◆ strnlen()

size_t clockwerk::strnlen	(	const char *	s,
		size_t	maxlen )

Function to calculate the string length with a length bound.

Parameters

s	point to string array
maxlen	Max length of the string

Returns: Size of string. If there is no null terminator, returns max value

◆ tilde() [1/2]

Matrix< 3, 3 > clockwerk::tilde ( const CartesianVector< 3 > & v )

◆ tilde() [2/2]

void clockwerk::tilde	(	const CartesianVector< 3 > &	v,
		Matrix< 3, 3 > &	t )

◆ toLower()

void clockwerk::toLower ( char * input )

Converts a C-style string to lowercase in place.

Parameters

[in,out] input Pointer to a null-terminated string to be converted.

◆ toUpper()

void clockwerk::toUpper ( char * input )

Converts a C-style string to uppercase in place.

Parameters

[in,out] input Pointer to a null-terminated string to be converted.

Variable Documentation

◆ MAX_CHARS_PER_ARRAY_STRING

const uint16 clockwerk::MAX_CHARS_PER_ARRAY_STRING = 200

◆ MAX_CHARS_PER_MATRIX_STRING

const uint32 clockwerk::MAX_CHARS_PER_MATRIX_STRING = 1000

◆ MAX_CHARS_PER_STRING_VALUE

const uint8 clockwerk::MAX_CHARS_PER_STRING_VALUE = 32

◆ MSEC_PER_SEC_I

const uint16 clockwerk::MSEC_PER_SEC_I = 1000

◆ NSEC_PER_MSEC_I

const uint32 clockwerk::NSEC_PER_MSEC_I = 1000000

◆ NSEC_PER_SEC_D

const floating_point clockwerk::NSEC_PER_SEC_D = 1000000000.0

◆ NSEC_PER_SEC_I

const uint32 clockwerk::NSEC_PER_SEC_I = 1000000000

◆ QUATERNION_NUM_ELEMENTS

const uint8 clockwerk::QUATERNION_NUM_ELEMENTS = 4

Constant for the number of elements in a quaternion.

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ cdl_types_e

◆ dataio_types_e

◆ graph_tree_types_e

Function Documentation

◆ add()

◆ caseInsensitiveEqual()

◆ cholSolve()

◆ connectSignals()

◆ cross() [1/2]

◆ cross() [2/2]

◆ disconnect()

◆ dot() [1/2]

◆ dot() [2/2]

◆ eAdd()

◆ eMultiply()

◆ eSubtract()

◆ floatEquals()

◆ isValidNumber()

◆ multiply() [1/2]

◆ multiply() [2/2]

Standard functions

◆ numberFromString() [1/10]

◆ numberFromString() [2/10]

◆ numberFromString() [3/10]

◆ numberFromString() [4/10]

◆ numberFromString() [5/10]

◆ numberFromString() [6/10]

◆ numberFromString() [7/10]

◆ numberFromString() [8/10]

◆ numberFromString() [9/10]

◆ numberFromString() [10/10]

◆ numberToString() [1/15]

◆ numberToString() [2/15]

◆ numberToString() [3/15]

◆ numberToString() [4/15]

◆ numberToString() [5/15]

◆ numberToString() [6/15]

◆ numberToString() [7/15]

◆ numberToString() [8/15]

◆ numberToString() [9/15]

◆ numberToString() [10/15]

◆ numberToString() [11/15]

◆ numberToString() [12/15]

◆ numberToString() [13/15]

◆ numberToString() [14/15]

◆ numberToString() [15/15]

◆ operator*() [1/12]

◆ operator*() [2/12]

◆ operator*() [3/12]

return by value. Where overload is less efficient, it is explicitly noted.

◆ operator*() [4/12]

◆ operator*() [5/12]

◆ operator*() [6/12]

◆ operator*() [7/12]

◆ operator*() [8/12]

◆ operator*() [9/12]

return by value. Where overload is less efficient, it is explicitly noted.

◆ operator*() [10/12]

return by value. Where overload is less efficient, it is explicitly noted.

◆ operator*() [11/12]

◆ operator*() [12/12]

◆ operator+() [1/6]

◆ operator+() [2/6]

◆ operator+() [3/6]

◆ operator+() [4/6]

◆ operator+() [5/6]

◆ operator+() [6/6]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ safeAcos() [1/2]

◆ safeAcos() [2/2]

◆ safeAsin() [1/2]

◆ safeAsin() [2/2]

◆ safeDivide() [1/4]

◆ safeDivide() [2/4]