Atsumi Toda
UAVの姿勢推定に使用するプログラム。
Diff: Matrix/Matrix.cpp
- Revision:
- 4:21a356ae0747
- Parent:
- 3:3fa7882a5fd0
--- a/Matrix/Matrix.cpp Wed Jul 24 12:00:01 2019 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,388 +0,0 @@
-#include "myConstants.h"
-#include "Matrix.h"
-
-
-
-Matrix::Matrix(int row, int col) : row(row), col(col), components(0) {
- components = new float[row*col];
- if (!components) error("Memory Allocation Error");
- for(int i=0; i<row*col; i++) components[i] = 0.0f;
- if (row == col) {
- for (int i = 0; i < row; i++) {
- components[i * col + i] = 1.0f;
- }
- }
-}
-
-Matrix::Matrix(int row, int col, float* comps) : row(row), col(col), components(0) {
- components = new float[row*col];
- if (!components) error("Memory Allocation Error");
- memcpy(components, comps, sizeof(float)*row*col);
-}
-
-
-Matrix::~Matrix() {
- delete[] components;
-}
-
-Matrix::Matrix(const Matrix& m) : row(m.row), col(m.col), components(0) {
- components = new float[row*col];
- if (!components) error("Memory Allocation Error");
- memcpy(components, m.GetpComponents(), sizeof(float)*row*col);
-}
-
-Matrix Matrix::operator-() const{
- Matrix retMat(*this);
-
- for (int i = 0; i < row * col; i++) {
- retMat.components[i] = - this->components[i];
- }
-
- return retMat;
-}
-
-Matrix& Matrix::operator=(const Matrix& m) {
- if (this == &m) return *this;
- row = m.row;
- col = m.col;
- delete[] components;
- components = new float[row*col];
- if (!components) error("Memory Allocation Error");
- memcpy(components, m.GetpComponents(), sizeof(float)*row*col);
-
- return *this;
-}
-
-Matrix& Matrix::operator+=(const Matrix& m) {
- if (row != m.GetRow() || col != m.GetCol()) error("Irregular Dimention");
-
- for (int i = 0; i < row; i++) {
- for (int j = 0; j < col; j++) {
- components[i * col + j] += m.components[i * col + j];
- }
- }
-
- this->CleanUp();
-
- return *this;
-}
-
-Matrix& Matrix::operator-=(const Matrix& m) {
- if (row != m.GetRow() || col != m.GetCol()) error("Irregular Dimention");
-
- for (int i = 0; i < row; i++) {
- for (int j = 0; j < col; j++) {
- components[i * col + j] -= m.components[i * col + j];
- }
- }
-
- this->CleanUp();
-
- return *this;
-}
-/*
-Matrix& Matrix::operator*=(const Matrix& m) {
- if (col != m.GetRow()) error("Irregular Dimention");
- Matrix temp = Matrix(*this);
-
- col = m.GetCol();
- delete[] components;
- components = new float[row*col];
-
- for (int i = 0; i < row; i++) {
- for (int j = 0; j < col; j++) {
- components[i*col + j] = 0.0f;
- for (int k = 0; k < m.GetRow(); k++) {
- components[i * col + j] += temp.components[i * col + k] * m.components[k * col + j];
- }
- }
- }
-
- this->CleanUp();
-
- return *this;
-}
-*/
-
-Matrix& Matrix::operator*=(float c) {
- for (int i = 0; i < row; i++) {
- for (int j = 0; j < col; j++) {
- components[i*col + j] *= c;
- }
- }
-
- return *this;
-}
-
-Matrix& Matrix::operator/=(float c) {
- if (fabs(c) < NEARLY_ZERO) error("Division by Zero");
- for (int i = 0; i < row; i++) {
- for (int j = 0; j < col; j++) {
- components[i*col + j] /= c;
- }
- }
-
- return *this;
-}
-
-void Matrix::SetComp(int rowNo, int colNo, float val) {
- if (rowNo > row || colNo > col) error("Index Out of Bounds Error");
- components[(rowNo-1)*col + (colNo-1)] = val;
-}
-
-void Matrix::SetComps(float* pComps) {
- memcpy(components, pComps, sizeof(float) * row * col);
-}
-
-float Matrix::Determinant() const{
- if (row != col) error("failed to calculate det. : matrix is not square");
- int decSign = 0;
- float retVal = 1.0f;
-
- // 行列のLU分解
- Matrix LU(this->LU_Decompose(&decSign));
-
- for (int i = 0; i < LU.row; i++) {
- retVal *= LU.components[i * LU.col + i];
- }
-
- return retVal*decSign;
-}
-
-float Matrix::det() const {
- if (row != col) error("failed to calculate det : matrix is not square");
-
- Matrix temp(*this);
- int decSign = 1;
-
- for (int j = 0; j < col - 1; j++) {
-
- // 列内のみで最大の要素を探す
- int maxNo = j;
- for (int k = j; k < row; k++) {
- if (temp.components[maxNo * col + j] < temp.components[k * col + j]) maxNo = k;
- }
- if (maxNo != j) {
- temp.SwapRow(j + 1, maxNo + 1);
- decSign *= -1;
- }
- // 列内の最大要素が小さ過ぎる場合、行内の最大要素も探す
- if (fabs(temp.components[j * col + j]) < NEARLY_ZERO) {
- maxNo = j;
- for (int k = j; k < col; k++) {
- if (temp.components[j * col + maxNo] < temp.components[j * col + k])maxNo = k;
- }
- if (maxNo != j) {
- temp.SwapCol(j + 1, maxNo + 1);
- decSign *= -1;
- }
-
- // 列内、行内の最大要素を選んでも小さすぎる場合はエラー
- if (fabs(temp.components[j * col + j]) < NEARLY_ZERO) {
- if (row != col) error("failed to calculate det : Division by Zero");
- }
- }
-
- float c1 = 1.0f / temp.components[j * col + j];
-
- for (int i = j + 1; i < row; i++) {
- float c2 = temp.components[i * col + j] * c1;
- for (int k = j; k < col; k++) {
- temp.components[i * col + k] = temp.components[i * col + k] - c2 * temp.components[j * col + k];
- }
- }
-
- }
-
- if (fabs(temp.components[(row - 1) * col + (col - 1)]) < NEARLY_ZERO) return 0.0f;
-
- float retVal = 1.0f;
- for (int i = 0; i < row; i++) {
- retVal *= temp.components[i * col + i];
- }
-
- return retVal * decSign;
-}
-
-Matrix Matrix::LU_Decompose(int* sign, Matrix* p) const{
- if (row != col) error("failed to LU decomposition: matrix is not square");
- if (sign != 0) *sign = 1;
- if (p != 0) {
- if (p->row != row || p->row != p->col) error("failed to LU decomposition: permitation matrix is incorrect");
- // 置換行列は最初に単位行列にしておく
- memset(p->components, 0, sizeof(float) * row * col);
- for (int i = 0; i < row; i++) {
- p->components[i * col + i] = 1.0f;
- }
- }
- Matrix retVal(*this);
-
- for (int d = 0; d < row - 1; d++) { // 1行1列ずつ分解を行う
- // d列目の最大の要素を探索し、見つけた要素の行とd行目を交換する
- int maxNo = d;
- for (int i = d; i < row; i++) {
- if (retVal.components[i * col + d] > retVal.components[maxNo * col + d]) maxNo = i;
- }
- if (maxNo != d) {
- retVal.SwapRow(d + 1, maxNo + 1);
- if (sign != 0) *sign *= -1;
- if (p != 0) {
- p->SwapRow(d + 1, maxNo + 1);
- }
- }
- float c = retVal.components[d * col + d];
- if (fabs(c) < NEARLY_ZERO) error("failed to LU decomposition: Division by Zero");
-
- // d行d列目以降の行列について計算
- for (int i = d+1; i < row; i++) {
- retVal.components[i * col + d] /= c;
- for (int j = d+1; j < col; j++) {
- retVal.components[i * col + j] -= retVal.components[d * col + j] * retVal.components[i * col + d];
- }
- }
- }
-
- retVal.CleanUp();
-
- return retVal;
-}
-
-float Matrix::Inverse(Matrix& invm) const{
- if (row != col) error("failed to get Inv. : matrix is not square");
-
- Matrix P(*this);
- Matrix LU(LU_Decompose(0, &P));
-
- // 分解した行列の対角成分の積から行列式を求める
- // det = 0 ならfalse
- float det = 1.0f;
- for (int i = 0; i < row; i++) {
- det *= LU.components[i * col + i];
- }
- if (fabs(det) < NEARLY_ZERO) {
- return fabs(det);
- }
-
- // U、Lそれぞれの逆行列を計算する
- Matrix U_inv = Matrix(row, col);
- Matrix L_inv = Matrix(row, col);
-
- for (int j = 0; j < col; j++) {
- for (int i = 0; i <= j; i++) {
- int i_U = j - i; // U行列の逆行列は対角成分から上へ向かって
- // 左から順番に値を計算する
-
- int j_L = col - 1 - j; // L行列の逆行列は右から順番に
- int i_L = j_L + i; // 対角成分から下へ向かって計算する
-
- if (i_U != j) { // 非対角成分
- float temp_U = 0.0f;
- float temp_L = 0.0f;
-
- for (int k = 0; k < i; k++) {
-
- temp_U -= U_inv.components[(j - k) * col + j] * LU.components[i_U * col + (j - k)];
-
- if (k == 0) {
- temp_L -= LU.components[i_L * col + j_L];
- } else {
- temp_L -= L_inv.components[(j_L + k) * col + j_L] * LU.components[i_L * col + j_L + k];
- }
-
- }
-
- U_inv.components[i_U * col + j] = temp_U / LU.components[i_U * col + i_U];
- L_inv.components[i_L * col + j_L] = temp_L;
-
- } else { // 対角成分
- if (fabs(LU.components[i_U * col + i_U]) >= NEARLY_ZERO) {
- U_inv.components[i_U * col + i_U] = 1.0f / LU.components[i_U * col + i_U];
- }
- }
- }
- }
-
- invm = U_inv * L_inv * P;
-
- return -1.0f;
-}
-
-Matrix Matrix::Transpose() const{
- //if (row != col) error("failed to get Trans. : matrix is not square");
- Matrix retVal(col, row);
-
- for (int i = 0; i < row; i++) {
- for (int j = 0; j < col; j++) {
- retVal.components[j * row + i] = this->components[i * col + j];
- }
- }
-
- return retVal;
-}
-
-Matrix operator+(const Matrix& lhm, const Matrix& rhm) {
- Matrix temp = Matrix(lhm);
- temp += rhm;
- return temp;
-}
-
-Matrix operator-(const Matrix& lhm, const Matrix& rhm) {
- Matrix temp = Matrix(lhm);
- temp -= rhm;
- return temp;
-}
-
-Matrix operator*(const Matrix& lhm, const Matrix& rhm) {
- if(lhm.GetCol() != rhm.GetRow()) error("Matrix product Error: Irregular Dimention.");
- int row = lhm.GetRow();
- int col = rhm.GetCol();
- int sum = lhm.GetCol();
- Matrix temp(row, col);
-
- for (int i = 1; i <= row; i++) {
- for (int j = 1; j <= col; j++) {
- float temp_c = 0.0f;
- for (int k = 1; k <= sum; k++) {
- temp_c += lhm.GetComp(i, k) * rhm.GetComp(k, j);
- }
- temp.SetComp(i, j, temp_c);
- }
- }
-
- return temp;
-}
-
-void Matrix::CleanUp() {
- int num = row*col;
- float maxComp = 0.0f;
- for (int i = 0; i < num; i++) {
- if (maxComp < fabs(components[i])) maxComp = fabs(components[i]);
- }
- if (maxComp > NEARLY_ZERO) {
- for (int i = 0; i < num; i++) {
- if (fabs(components[i]) / maxComp < ZERO_TOLERANCE) components[i] = 0.0f;
- }
- }
-}
-
-void Matrix::SwapRow(int rowNo1, int rowNo2) {
- if (rowNo1 > row || rowNo2 > row) error("Index Out of Bounds Error !!");
- float* temp = new float[col];
-
- memcpy(temp, components + (rowNo1 - 1) * col, sizeof(float) * col);
- memcpy(components + (rowNo1 - 1) * col, components + (rowNo2 - 1) * col, sizeof(float) * col);
- memcpy(components + (rowNo2 - 1) * col, temp, sizeof(float) * col);
-
- delete[] temp;
-}
-
-void Matrix::SwapCol(int colNo1, int colNo2) {
- if (colNo1 > col || colNo2 > col) error("Index Out of Bounds Error !!");
- float temp = 0.0f;
-
- for (int i = 0; i < row; i++) {
- temp = components[i * col + colNo1];
- components[i * col + colNo1] = components[i * col + colNo2];
- components[i * col + colNo2] = temp;
- }
-}
\ No newline at end of file