Ernesto Palacios / Mbed 2 deprecated Matrix_class

This is a test Program for the Class Matrix version 1.6.4

Dependencies:   Matrix Kinematics mbed TrackVector2D MatrixMath

main.cpp@0:63af78c5943c, 2011-10-21 (annotated)

Committer:
Yo_Robot
Date:
Fri Oct 21 03:35:03 2011 +0000
Revision:
0:63af78c5943c
Child:
1:9e4cb305fb24
Example program to show MatrixClass

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 0:63af78c5943c 1 #include "mbed.h"
Yo_Robot 0:63af78c5943c 2 #include "Matrix.h"
Yo_Robot 0:63af78c5943c 3 #include "MatrixMath.h"
Yo_Robot 0:63af78c5943c 4
Yo_Robot 0:63af78c5943c 5 int main() {
Yo_Robot 0:63af78c5943c 6
Yo_Robot 0:63af78c5943c 7 DigitalOut myled(LED1);
Yo_Robot 0:63af78c5943c 8
Yo_Robot 0:63af78c5943c 9 Matrix myMatrix(3,3);
Yo_Robot 0:63af78c5943c 10 Matrix anotherMatrix;
Yo_Robot 0:63af78c5943c 11
Yo_Robot 0:63af78c5943c 12 // Fill Matrix with data.
Yo_Robot 0:63af78c5943c 13 myMatrix << 1 << 2 << 3
Yo_Robot 0:63af78c5943c 14 << 4 << 5 << 6
Yo_Robot 0:63af78c5943c 15 << 7 << 8 << 9;
Yo_Robot 0:63af78c5943c 16
Yo_Robot 0:63af78c5943c 17 printf( "\myMatrix \n");
Yo_Robot 0:63af78c5943c 18 myMatrix.print();
Yo_Robot 0:63af78c5943c 19 printf( "\n" );
Yo_Robot 0:63af78c5943c 20
Yo_Robot 0:63af78c5943c 21
Yo_Robot 0:63af78c5943c 22 /** Matrix operations **/
Yo_Robot 0:63af78c5943c 23
Yo_Robot 0:63af78c5943c 24 // Add 5 to negative Matrix
Yo_Robot 0:63af78c5943c 25 anotherMatrix = - myMatrix + 5;
Yo_Robot 0:63af78c5943c 26
Yo_Robot 0:63af78c5943c 27 printf( "Result Matrix: anotherMatrix = - myMatrix + 5\n" );
Yo_Robot 0:63af78c5943c 28 anotherMatrix.print();
Yo_Robot 0:63af78c5943c 29 printf( "\n" );
Yo_Robot 0:63af78c5943c 30
Yo_Robot 0:63af78c5943c 31 // Matrix Multiplication *
Yo_Robot 0:63af78c5943c 32 anotherMatrix *= myMatrix;
Yo_Robot 0:63af78c5943c 33
Yo_Robot 0:63af78c5943c 34 printf( "anotherMatrix = anotherMatrix * myMatrix\n" );
Yo_Robot 0:63af78c5943c 35 anotherMatrix.print();
Yo_Robot 0:63af78c5943c 36 printf( "\n" );
Yo_Robot 0:63af78c5943c 37
Yo_Robot 0:63af78c5943c 38 // Scalar Matrix Multiplication anotherMatrix *= 0.5
Yo_Robot 0:63af78c5943c 39 anotherMatrix *= 0.5;
Yo_Robot 0:63af78c5943c 40
Yo_Robot 0:63af78c5943c 41 printf( "Result Matrix *= 0.5:\n" );
Yo_Robot 0:63af78c5943c 42 anotherMatrix.print();
Yo_Robot 0:63af78c5943c 43 printf( " _______________________________ \n" );
Yo_Robot 0:63af78c5943c 44
Yo_Robot 0:63af78c5943c 45
Yo_Robot 0:63af78c5943c 46 printf("** MEMBER OPERATIONS ** \n\n");
Yo_Robot 0:63af78c5943c 47
Yo_Robot 0:63af78c5943c 48 //Copy myMatrix
Yo_Robot 0:63af78c5943c 49 Matrix temp( myMatrix );
Yo_Robot 0:63af78c5943c 50
Yo_Robot 0:63af78c5943c 51 // Resize Matrix
Yo_Robot 0:63af78c5943c 52 temp.Resize(4,4);
Yo_Robot 0:63af78c5943c 53 printf("\nAdded one Column, one Row to the limitsof myMatrix saved in temp Matrix");
Yo_Robot 0:63af78c5943c 54 temp.print();
Yo_Robot 0:63af78c5943c 55
Yo_Robot 0:63af78c5943c 56 //Delete those new elements, we don't need them anyway.
Yo_Robot 0:63af78c5943c 57 Matrix::DeleteRow( temp, 4 );
Yo_Robot 0:63af78c5943c 58 Matrix::DeleteCol( temp, 4 );
Yo_Robot 0:63af78c5943c 59
Yo_Robot 0:63af78c5943c 60 printf("\nBack to normal\n");
Yo_Robot 0:63af78c5943c 61 temp.print();
Yo_Robot 0:63af78c5943c 62
Yo_Robot 0:63af78c5943c 63
Yo_Robot 0:63af78c5943c 64 // Make room at the begining of Matrix
Yo_Robot 0:63af78c5943c 65 Matrix::AddRow( temp, 1 );
Yo_Robot 0:63af78c5943c 66 Matrix::AddColumn( temp, 1 );
Yo_Robot 0:63af78c5943c 67 printf("\nAdded Just one Row and column to the beginning\n");
Yo_Robot 0:63af78c5943c 68 temp.print();
Yo_Robot 0:63af78c5943c 69
Yo_Robot 0:63af78c5943c 70 // Take the second Row as a New Matrix
Yo_Robot 0:63af78c5943c 71 anotherMatrix = Matrix::ExportRow( temp, 2 );
Yo_Robot 0:63af78c5943c 72 printf("\nExport Second Row \n");
Yo_Robot 0:63af78c5943c 73 anotherMatrix.print();
Yo_Robot 0:63af78c5943c 74
Yo_Robot 0:63af78c5943c 75 // The second Column as a ner Matrix, then transpose it to make it a Row
Yo_Robot 0:63af78c5943c 76 anotherMatrix = Matrix::ExportCol( temp, 2 );
Yo_Robot 0:63af78c5943c 77 anotherMatrix = MatrixMath::Transpose( anotherMatrix );
Yo_Robot 0:63af78c5943c 78 printf("\nAnd Export Second Column and Transpose it \n");
Yo_Robot 0:63af78c5943c 79 anotherMatrix.print();
Yo_Robot 0:63af78c5943c 80
Yo_Robot 0:63af78c5943c 81 // This will Check to see if your are reduce to a single Row or Column
Yo_Robot 0:63af78c5943c 82 temp = Matrix::ToPackedVector( myMatrix );
Yo_Robot 0:63af78c5943c 83 printf("\nInitial Matrix turned into a single Row\n");
Yo_Robot 0:63af78c5943c 84 temp.print();
Yo_Robot 0:63af78c5943c 85
Yo_Robot 0:63af78c5943c 86 // That's all for now!!!
Yo_Robot 0:63af78c5943c 87
Yo_Robot 0:63af78c5943c 88 while(1) {
Yo_Robot 0:63af78c5943c 89 myled = 1;
Yo_Robot 0:63af78c5943c 90 wait(0.2);
Yo_Robot 0:63af78c5943c 91 myled = 0;
Yo_Robot 0:63af78c5943c 92 wait(0.2);
Yo_Robot 0:63af78c5943c 93 }
Yo_Robot 0:63af78c5943c 94 }