updated licensing info

AirLib/include/common/Common.hpp

@@ -1,3 +1,6 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
 #ifndef msr_air_copter_sim_Common_hpp
 #define msr_air_copter_sim_Common_hpp
 

AirLib/include/common/CommonStructs.hpp

@@ -1,3 +1,6 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
 #ifndef msr_air_copter_sim_CommonStructs_hpp
 #define msr_air_copter_sim_CommonStructs_hpp
 

AirLib/include/common/DelayLine.hpp

@@ -1,89 +1,92 @@
-#ifndef common_utils_DelayLine_hpp
-#define common_utils_DelayLine_hpp
-
-#include "common/Common.hpp"
-#include "UpdatableObject.hpp"
-#include <list>
-
-namespace msr { namespace airlib {
-
-template<typename T>
-class DelayLine : UpdatableObject {
-public:
-    DelayLine()
-    {}
-    DelayLine(double delay) //in seconds
-    {
-        initialize(delay);
-    }
-    void initialize(double delay)  //in seconds
-    {
-        setDelay(delay);
-        DelayLine::reset();
-    }
-    void setDelay(double delay)
-    {
-        delay_ = delay;
-    }
-    double getDelay() const
-    {
-        return delay_;
-    }
-
-    //*** Start: UpdatableState implementation ***//
-    virtual void reset() override
-    {
-        values_.clear();
-        times_.clear();
-        time_now = 0;
-        last_time_ = -1;
-        last_value_ = T();
-    }
-
-    virtual void update(real_T dt) override
-    {
-        time_now += dt;
-
-        if (!times_.empty() && 
-            time_now - times_.front() >= delay_) {
-
-            last_value_ = values_.front();
-            last_time_ = times_.front();
-
-            times_.pop_front();
-            values_.pop_front();
-        }
-    }
-    //*** End: UpdatableState implementation ***//
-
-
-    T getOutput() const
-    {
-        return last_value_;
-    }
-    double getOutputTime() const
-    {
-        return last_time_;
-    }
-
-    void push_back(const T& val, double time_offset = 0)
-    {
-        values_.push_back(val);
-        times_.push_back(time_now + time_offset);
-    }
-
-private:
-    template<typename TItem>
-    using list = std::list<TItem>;
-
-    list<T> values_;
-    list<double> times_;
-    double delay_;
-
-    T last_value_;
-    double last_time_ = -1;
-    double time_now = 0;
-};
-
-}} //namespace
-#endif
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef common_utils_DelayLine_hpp
+#define common_utils_DelayLine_hpp
+
+#include "common/Common.hpp"
+#include "UpdatableObject.hpp"
+#include <list>
+
+namespace msr { namespace airlib {
+
+template<typename T>
+class DelayLine : UpdatableObject {
+public:
+    DelayLine()
+    {}
+    DelayLine(double delay) //in seconds
+    {
+        initialize(delay);
+    }
+    void initialize(double delay)  //in seconds
+    {
+        setDelay(delay);
+        DelayLine::reset();
+    }
+    void setDelay(double delay)
+    {
+        delay_ = delay;
+    }
+    double getDelay() const
+    {
+        return delay_;
+    }
+
+    //*** Start: UpdatableState implementation ***//
+    virtual void reset() override
+    {
+        values_.clear();
+        times_.clear();
+        time_now = 0;
+        last_time_ = -1;
+        last_value_ = T();
+    }
+
+    virtual void update(real_T dt) override
+    {
+        time_now += dt;
+
+        if (!times_.empty() && 
+            time_now - times_.front() >= delay_) {
+
+            last_value_ = values_.front();
+            last_time_ = times_.front();
+
+            times_.pop_front();
+            values_.pop_front();
+        }
+    }
+    //*** End: UpdatableState implementation ***//
+
+
+    T getOutput() const
+    {
+        return last_value_;
+    }
+    double getOutputTime() const
+    {
+        return last_time_;
+    }
+
+    void push_back(const T& val, double time_offset = 0)
+    {
+        values_.push_back(val);
+        times_.push_back(time_now + time_offset);
+    }
+
+private:
+    template<typename TItem>
+    using list = std::list<TItem>;
+
+    list<T> values_;
+    list<double> times_;
+    double delay_;
+
+    T last_value_;
+    double last_time_ = -1;
+    double time_now = 0;
+};
+
+}} //namespace
+#endif

AirLib/include/common/EarthUtils.hpp

@@ -1,3 +1,6 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
 
 #ifndef air_Earth_hpp
 #define air_Earth_hpp
@@ -360,4 +363,4 @@ class EarthUtils {
 };
 
 }} //namespace
-#endif
+#endif

AirLib/include/common/FirstOrderFilter.hpp

@@ -1,3 +1,6 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
 
 #ifndef airsimcore_firstorderfilter_hpp
 #define airsimcore_firstorderfilter_hpp
@@ -77,4 +80,4 @@ class FirstOrderFilter : UpdatableObject {
 };
 
 }} //namespace
-#endif
+#endif

AirLib/include/common/FrequencyLimiter.hpp

@@ -1,3 +1,6 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
 #ifndef msr_air_copter_sim_FrequencyLimiter_hpp
 #define msr_air_copter_sim_FrequencyLimiter_hpp
 

AirLib/include/common/GaussianMarkov.hpp

@@ -1,74 +1,77 @@
-#ifndef common_utils_GaussianMarkov_hpp
-#define common_utils_GaussianMarkov_hpp
-
-#include "common/Common.hpp"
-#include "UpdatableObject.hpp"
-#include <list>
-#include "common_utils/RandomGenerator.hpp"
-
-namespace msr { namespace airlib {
-
-class GaussianMarkov : UpdatableObject {
-public:
-    GaussianMarkov()
-    {}
-    GaussianMarkov(real_T tau, real_T sigma, real_T initial_output) //in seconds
-    {
-        initialize(tau, sigma, initial_output);
-    }
-    void initialize(real_T tau, real_T sigma, real_T initial_output)  //in seconds
-    {
-        tau_ = tau;
-        sigma_ = sigma;
-        rand_ = RandomGeneratorGausianR(0.0f, 1.0f);
-
-        if (std::isnan(initial_output))
-            initial_output_ = getNextRandom() * sigma_;
-        else
-            initial_output_ = initial_output;
-
-        GaussianMarkov::reset();
-    }
-
-    //*** Start: UpdatableState implementation ***//
-    virtual void reset() override
-    {
-        output_ = initial_output_;
-        rand_.reset();
-    }
-
-    virtual void update(real_T dt) override
-    {
-        /*
-        Ref:
-            A Comparison between Different Error Modeling of MEMS Applied to GPS/INS Integrated Systems
-            Quinchia, sec 3.2, https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3812568/
-        
-            A Study of the Effects of Stochastic Inertial Sensor Errors in Dead-Reckoning Navigation
-            John H Wall, 2007, eq 2.5, pg 13, http://etd.auburn.edu/handle/10415/945
-        */
-        real_T alpha = exp(-dt / tau_);
-        output_ = alpha * output_ + (1 - alpha) * getNextRandom() * sigma_;
-    }
-    //*** End: UpdatableState implementation ***//
-
-
-    real_T getNextRandom()
-    {
-        return rand_.next();
-    }
-
-    real_T getOutput() const
-    {
-        return output_;
-    }
-
-private:
-    RandomGeneratorGausianR rand_;
-    real_T tau_, sigma_;
-    real_T output_, initial_output_;
-};
-
-
-}} //namespace
-#endif
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
+#ifndef common_utils_GaussianMarkov_hpp
+#define common_utils_GaussianMarkov_hpp
+
+#include "common/Common.hpp"
+#include "UpdatableObject.hpp"
+#include <list>
+#include "common_utils/RandomGenerator.hpp"
+
+namespace msr { namespace airlib {
+
+class GaussianMarkov : UpdatableObject {
+public:
+    GaussianMarkov()
+    {}
+    GaussianMarkov(real_T tau, real_T sigma, real_T initial_output) //in seconds
+    {
+        initialize(tau, sigma, initial_output);
+    }
+    void initialize(real_T tau, real_T sigma, real_T initial_output)  //in seconds
+    {
+        tau_ = tau;
+        sigma_ = sigma;
+        rand_ = RandomGeneratorGausianR(0.0f, 1.0f);
+
+        if (std::isnan(initial_output))
+            initial_output_ = getNextRandom() * sigma_;
+        else
+            initial_output_ = initial_output;
+
+        GaussianMarkov::reset();
+    }
+
+    //*** Start: UpdatableState implementation ***//
+    virtual void reset() override
+    {
+        output_ = initial_output_;
+        rand_.reset();
+    }
+
+    virtual void update(real_T dt) override
+    {
+        /*
+        Ref:
+            A Comparison between Different Error Modeling of MEMS Applied to GPS/INS Integrated Systems
+            Quinchia, sec 3.2, https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3812568/
+        
+            A Study of the Effects of Stochastic Inertial Sensor Errors in Dead-Reckoning Navigation
+            John H Wall, 2007, eq 2.5, pg 13, http://etd.auburn.edu/handle/10415/945
+        */
+        real_T alpha = exp(-dt / tau_);
+        output_ = alpha * output_ + (1 - alpha) * getNextRandom() * sigma_;
+    }
+    //*** End: UpdatableState implementation ***//
+
+
+    real_T getNextRandom()
+    {
+        return rand_.next();
+    }
+
+    real_T getOutput() const
+    {
+        return output_;
+    }
+
+private:
+    RandomGeneratorGausianR rand_;
+    real_T tau_, sigma_;
+    real_T output_, initial_output_;
+};
+
+
+}} //namespace
+#endif

AirLib/include/common/GeodeticConverter.hpp

@@ -1,3 +1,6 @@
+// Copyright (c) Microsoft Corporation. All rights reserved.
+// Licensed under the MIT License.
+
 #ifndef air_GeodeticConverter_hpp
 #define air_GeodeticConverter_hpp
 
@@ -220,4 +223,4 @@ class GeodeticConverter
 }; // class GeodeticConverter
 
 }}
-#endif // GEODETIC_CONVERTER_H_
+#endif // GEODETIC_CONVERTER_H_