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Diffstat (limited to 'include/math/matrix.h')
| -rw-r--r-- | include/math/matrix.h | 185 |
1 files changed, 0 insertions, 185 deletions
diff --git a/include/math/matrix.h b/include/math/matrix.h deleted file mode 100644 index e71b2db..0000000 --- a/include/math/matrix.h +++ /dev/null @@ -1,185 +0,0 @@ -// Inertial Measurement Unit Maths Library -// -// Copyright 2013-2021 Sam Cowen <[email protected]> -// Bug fixes and cleanups by Gé Vissers ([email protected]) -// -// Permission is hereby granted, free of charge, to any person obtaining a -// copy of this software and associated documentation files (the "Software"), -// to deal in the Software without restriction, including without limitation -// the rights to use, copy, modify, merge, publish, distribute, sublicense, -// and/or sell copies of the Software, and to permit persons to whom the -// Software is furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in -// all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS -// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER -// DEALINGS IN THE SOFTWARE. - -#ifndef IMUMATH_MATRIX_HPP -#define IMUMATH_MATRIX_HPP - -#include <stdint.h> -#include <string.h> - -#include "vector.h" - -namespace imu { - -template <uint8_t N> class Matrix { -public: - Matrix() { memset(_cell_data, 0, N * N * sizeof(double)); } - - Matrix(const Matrix &m) { - for (int ij = 0; ij < N * N; ++ij) { - _cell_data[ij] = m._cell_data[ij]; - } - } - - ~Matrix() {} - - Matrix &operator=(const Matrix &m) { - for (int ij = 0; ij < N * N; ++ij) { - _cell_data[ij] = m._cell_data[ij]; - } - return *this; - } - - Vector<N> row_to_vector(int i) const { - Vector<N> ret; - for (int j = 0; j < N; j++) { - ret[j] = cell(i, j); - } - return ret; - } - - Vector<N> col_to_vector(int j) const { - Vector<N> ret; - for (int i = 0; i < N; i++) { - ret[i] = cell(i, j); - } - return ret; - } - - void vector_to_row(const Vector<N> &v, int i) { - for (int j = 0; j < N; j++) { - cell(i, j) = v[j]; - } - } - - void vector_to_col(const Vector<N> &v, int j) { - for (int i = 0; i < N; i++) { - cell(i, j) = v[i]; - } - } - - double operator()(int i, int j) const { return cell(i, j); } - double &operator()(int i, int j) { return cell(i, j); } - - double cell(int i, int j) const { return _cell_data[i * N + j]; } - double &cell(int i, int j) { return _cell_data[i * N + j]; } - - Matrix operator+(const Matrix &m) const { - Matrix ret; - for (int ij = 0; ij < N * N; ++ij) { - ret._cell_data[ij] = _cell_data[ij] + m._cell_data[ij]; - } - return ret; - } - - Matrix operator-(const Matrix &m) const { - Matrix ret; - for (int ij = 0; ij < N * N; ++ij) { - ret._cell_data[ij] = _cell_data[ij] - m._cell_data[ij]; - } - return ret; - } - - Matrix operator*(double scalar) const { - Matrix ret; - for (int ij = 0; ij < N * N; ++ij) { - ret._cell_data[ij] = _cell_data[ij] * scalar; - } - return ret; - } - - Matrix operator*(const Matrix &m) const { - Matrix ret; - for (int i = 0; i < N; i++) { - Vector<N> row = row_to_vector(i); - for (int j = 0; j < N; j++) { - ret(i, j) = row.dot(m.col_to_vector(j)); - } - } - return ret; - } - - Matrix transpose() const { - Matrix ret; - for (int i = 0; i < N; i++) { - for (int j = 0; j < N; j++) { - ret(j, i) = cell(i, j); - } - } - return ret; - } - - Matrix<N - 1> minor_matrix(int row, int col) const { - Matrix<N - 1> ret; - for (int i = 0, im = 0; i < N; i++) { - if (i == row) - continue; - - for (int j = 0, jm = 0; j < N; j++) { - if (j != col) { - ret(im, jm++) = cell(i, j); - } - } - im++; - } - return ret; - } - - double determinant() const { - // specialization for N == 1 given below this class - double det = 0.0, sign = 1.0; - for (int i = 0; i < N; ++i, sign = -sign) - det += sign * cell(0, i) * minor_matrix(0, i).determinant(); - return det; - } - - Matrix invert() const { - Matrix ret; - double det = determinant(); - - for (int i = 0; i < N; i++) { - for (int j = 0; j < N; j++) { - ret(i, j) = minor_matrix(j, i).determinant() / det; - if ((i + j) % 2 == 1) - ret(i, j) = -ret(i, j); - } - } - return ret; - } - - double trace() const { - double tr = 0.0; - for (int i = 0; i < N; ++i) - tr += cell(i, i); - return tr; - } - -private: - double _cell_data[N * N]; -}; - -template <> inline double Matrix<1>::determinant() const { return cell(0, 0); } - -}; // namespace imu - -#endif
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