Matrix class included
Dependencies: Matrix
Diff: MatrixMath.h
- Revision:
- 1:c74cdf14aea2
- Parent:
- 0:eb69bbfb6486
- Child:
- 2:d487bb616ec1
--- a/MatrixMath.h Fri Oct 21 03:28:28 2011 +0000 +++ b/MatrixMath.h Sat Oct 22 23:18:55 2011 +0000 @@ -1,6 +1,6 @@ /** - * @file: MatrixMath.h - * @author: Ernesto Palacios + * @file MatrixMath.h + * @author Ernesto Palacios * * Created on 15 de septiembre de 2011, 09:44 AM. * @@ -9,8 +9,8 @@ * */ -#ifndef MATRIXMATH_H -#define MATRIXMATH_H +#ifndef MATRIXMATH_H +#define MATRIXMATH_H #include "mbed.h" #include "Matrix.h" @@ -18,7 +18,8 @@ /** * @brief This class provides STATIC methods to preform operations over - * Matrix Objects. + * Matrix Objects + * version 0.8. * * Methods will be added as neccesary. * @@ -26,14 +27,34 @@ class MatrixMath{ public: - - static Matrix Transpose( const Matrix& matrix ); + + /**@brief + * Transposes Matrix, return new Object. + * @param Mat matrix to calculate + * @return the determinant + */ + static Matrix Transpose( const Matrix& Mat ); + + + /**@brief + * Calculate the inverse of a nxn Matrix BUT check first if the determinant + * is != 0. Same matrix will be return if Det( Mat ) == 0. + * @param Mat matrix to calcute inverse. + * @return Matrix Inverse + */ + static Matrix Inv( const Matrix& Mat ); + - static Matrix Invert( const Matrix& matrix ); - - static float DotProduct( const Matrix& leftM, const Matrix& rightM ); - - static float Det( const Matrix& Mat ); + static float dotProduct( const Matrix& leftM, const Matrix& rightM ); + + /**@brief Calculates the determinant of a Matrix. + * @param Mat matrix to calculate. + * @return the determinant. + */ + static float det( const Matrix& Mat ); + + + //** For Kinematics **// static Matrix RotX( const Matrix& matrix, float radians ); @@ -43,6 +64,15 @@ static Matrix Transl( const Matrix& matrix, float x, float y, float z ); +private: + + /**@brief + * Calculates the Determinant of a 3x3 Matrix + * @param Mat Already made sure is a 3 by 3 + * @return Float, determinant. + */ + float Det3x3( const Matrix& Mat ); + }; -#endif /* MATRIXMATH_H */ +#endif /* MATRIXMATH_H */