Ernesto Palacios / MatrixMath

This class provides with operations for Matrix Objects

Dependents:   Matrix_class Wizardsneverdie mbed_multiplex_matrix Kinematics_Project_G5 ... more

MatrixMath.h@3:48754fe86e08, 2011-10-30 (annotated)

Committer:
Yo_Robot
Date:
Sun Oct 30 04:44:45 2011 +0000
Revision:
3:48754fe86e08
Parent:
2:d487bb616ec1
Child:
5:93948a9bbde2
Basic Kinematics & Basic Matrix version 0.9

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 3:48754fe86e08 1 /**
Yo_Robot 3:48754fe86e08 2 * @file MatrixMath.h
Yo_Robot 3:48754fe86e08 3 * @author Ernesto Palacios
Yo_Robot 3:48754fe86e08 4 *
Yo_Robot 3:48754fe86e08 5 * Created on 15 de septiembre de 2011, 09:44 AM.
Yo_Robot 3:48754fe86e08 6 *
Yo_Robot 3:48754fe86e08 7 * Develop Under GPL v3.0 License
Yo_Robot 3:48754fe86e08 8 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 3:48754fe86e08 9 *
Yo_Robot 3:48754fe86e08 10 */
Yo_Robot 3:48754fe86e08 11
Yo_Robot 3:48754fe86e08 12 #ifndef MATRIXMATH_H
Yo_Robot 3:48754fe86e08 13 #define MATRIXMATH_H
Yo_Robot 3:48754fe86e08 14
Yo_Robot 3:48754fe86e08 15 #include "mbed.h"
Yo_Robot 3:48754fe86e08 16 #include "Matrix.h"
Yo_Robot 3:48754fe86e08 17
Yo_Robot 3:48754fe86e08 18
Yo_Robot 3:48754fe86e08 19 /**
Yo_Robot 3:48754fe86e08 20 * @brief This class provides STATIC methods to perform operations over
Yo_Robot 3:48754fe86e08 21 * Matrix Objects
Yo_Robot 3:48754fe86e08 22 * version 0.9.
Yo_Robot 3:48754fe86e08 23 *
Yo_Robot 3:48754fe86e08 24 * Methods will be added as neccesary.
Yo_Robot 3:48754fe86e08 25 *
Yo_Robot 3:48754fe86e08 26 */
Yo_Robot 3:48754fe86e08 27 class MatrixMath{
Yo_Robot 3:48754fe86e08 28 public:
Yo_Robot 3:48754fe86e08 29
Yo_Robot 3:48754fe86e08 30
Yo_Robot 3:48754fe86e08 31 /**@brief
Yo_Robot 3:48754fe86e08 32 * Transposes Matrix, return new Object.
Yo_Robot 3:48754fe86e08 33 * @param Mat matrix to calculate
Yo_Robot 3:48754fe86e08 34 * @return the determinant
Yo_Robot 3:48754fe86e08 35 */
Yo_Robot 3:48754fe86e08 36 static Matrix Transpose( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 37
Yo_Robot 3:48754fe86e08 38
Yo_Robot 3:48754fe86e08 39 /**@brief
Yo_Robot 3:48754fe86e08 40 * Calculate the inverse of a nxn Matrix BUT check first if the determinant
Yo_Robot 3:48754fe86e08 41 * is != 0. Same matrix will be return if Det( Mat ) == 0.
Yo_Robot 3:48754fe86e08 42 * @param Mat matrix to calcute inverse.
Yo_Robot 3:48754fe86e08 43 * @return Matrix Inverse
Yo_Robot 3:48754fe86e08 44 */
Yo_Robot 3:48754fe86e08 45 static Matrix Inv( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 46
Yo_Robot 3:48754fe86e08 47
Yo_Robot 3:48754fe86e08 48 /**@brief
Yo_Robot 3:48754fe86e08 49 * Creates an identity Matrix, n x n.
Yo_Robot 3:48754fe86e08 50 * @param Rows Number of Rowns and Columns
Yo_Robot 3:48754fe86e08 51 * @return Identity Matrix of dimensions Rows x Rows
Yo_Robot 3:48754fe86e08 52 */
Yo_Robot 3:48754fe86e08 53 static Matrix Eye( int Rows );
Yo_Robot 3:48754fe86e08 54
Yo_Robot 3:48754fe86e08 55 /**@brief
Yo_Robot 3:48754fe86e08 56 * Returns the dot Product of any two same leght vectors.
Yo_Robot 3:48754fe86e08 57 * In this case a vector is defined as a [1,n] Matrix.
Yo_Robot 3:48754fe86e08 58 * @param leftM First Vector
Yo_Robot 3:48754fe86e08 59 * @param rightM Second Vector
Yo_Robot 3:48754fe86e08 60 * @return Dot Product or Scalar Product.
Yo_Robot 3:48754fe86e08 61 */
Yo_Robot 3:48754fe86e08 62 static float dot( const Matrix& leftM, const Matrix& rightM );
Yo_Robot 3:48754fe86e08 63
Yo_Robot 3:48754fe86e08 64 /**@brief Calculates the determinant of a Matrix.
Yo_Robot 3:48754fe86e08 65 * @param Mat matrix to calculate.
Yo_Robot 3:48754fe86e08 66 * @return the determinant.
Yo_Robot 3:48754fe86e08 67 */
Yo_Robot 3:48754fe86e08 68 static float det( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 69
Yo_Robot 3:48754fe86e08 70
Yo_Robot 3:48754fe86e08 71 //==== For Kinematics ====//
Yo_Robot 3:48754fe86e08 72
Yo_Robot 3:48754fe86e08 73 /**@brief
Yo_Robot 3:48754fe86e08 74 * Calculates the Rotation Matrix Transform along 'x' axis in radians.
Yo_Robot 3:48754fe86e08 75 * @param radians rotation angle.
Yo_Robot 3:48754fe86e08 76 * @return Rotation Matrix[4,4] along 'x' axis.
Yo_Robot 3:48754fe86e08 77 */
Yo_Robot 3:48754fe86e08 78 static Matrix RotX( float radians );
Yo_Robot 3:48754fe86e08 79
Yo_Robot 3:48754fe86e08 80
Yo_Robot 3:48754fe86e08 81 /**@brief
Yo_Robot 3:48754fe86e08 82 * Calculates the Rotation Matrix Transform along 'y' axis in radians.
Yo_Robot 3:48754fe86e08 83 * @param radians rotation angle.
Yo_Robot 3:48754fe86e08 84 * @return Rotation Matrix[4,4] along 'y' axis.
Yo_Robot 3:48754fe86e08 85 */
Yo_Robot 3:48754fe86e08 86 static Matrix RotY( float radians );
Yo_Robot 3:48754fe86e08 87
Yo_Robot 3:48754fe86e08 88
Yo_Robot 3:48754fe86e08 89 /**@brief
Yo_Robot 3:48754fe86e08 90 * Calculates the Rotation Matrix Transform along 'y' axis in radians.
Yo_Robot 3:48754fe86e08 91 * @param radians rotation angle.
Yo_Robot 3:48754fe86e08 92 * @return Rotation Matrix[4,4] along 'y' axis.
Yo_Robot 3:48754fe86e08 93 */
Yo_Robot 3:48754fe86e08 94 static Matrix RotZ( float radians );
Yo_Robot 3:48754fe86e08 95
Yo_Robot 3:48754fe86e08 96 /**@brief
Yo_Robot 3:48754fe86e08 97 * Calculates the Translation Matrix to coordenates, (x' y' z')
Yo_Robot 3:48754fe86e08 98 * @param x axis translation
Yo_Robot 3:48754fe86e08 99 * @param y axis translation
Yo_Robot 3:48754fe86e08 100 * @param z axis translation
Yo_Robot 3:48754fe86e08 101 * @return Translation Matrix[4,4] x'y'z'.
Yo_Robot 3:48754fe86e08 102 */
Yo_Robot 3:48754fe86e08 103 static Matrix Transl( float x, float y, float z );
Yo_Robot 3:48754fe86e08 104
Yo_Robot 3:48754fe86e08 105 private:
Yo_Robot 3:48754fe86e08 106
Yo_Robot 3:48754fe86e08 107 /**@brief
Yo_Robot 3:48754fe86e08 108 * Calculates the Determinant of a 3x3 Matrix
Yo_Robot 3:48754fe86e08 109 * @param Mat Already made sure is a 3 by 3
Yo_Robot 3:48754fe86e08 110 * @return Float, determinant.
Yo_Robot 3:48754fe86e08 111 */
Yo_Robot 3:48754fe86e08 112 float Det3x3( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 113
Yo_Robot 3:48754fe86e08 114 };
Yo_Robot 3:48754fe86e08 115
Yo_Robot 3:48754fe86e08 116 #endif /* MATRIXMATH_H */