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Diffstat (limited to 'include/math/matrix.h')
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diff --git a/include/math/matrix.h b/include/math/matrix.h new file mode 100644 index 0000000..e71b2db --- /dev/null +++ b/include/math/matrix.h @@ -0,0 +1,185 @@ +// 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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