Ernesto Palacios
This is a test Program for the Class Matrix version 1.6.4
Dependencies: Matrix Kinematics mbed TrackVector2D MatrixMath
Revision 2:e3b963c560d8, committed 2011-12-03
- Comitter:
- Yo_Robot
- Date:
- Sat Dec 03 17:57:25 2011 +0000
- Parent:
- 1:9e4cb305fb24
- Commit message:
- Homogeneus transformations included ! Big 8x8 matrix inverse and determinant
Changed in this revision
diff -r 9e4cb305fb24 -r e3b963c560d8 Kinematics.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Kinematics.lib Sat Dec 03 17:57:25 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Yo_Robot/code/Kinematics/#2ec8ab8c7db2
diff -r 9e4cb305fb24 -r e3b963c560d8 Matrix.lib --- a/Matrix.lib Sat Oct 22 23:20:26 2011 +0000 +++ b/Matrix.lib Sat Dec 03 17:57:25 2011 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Yo_Robot/code/Matrix/#c0c8f3edd60e +http://mbed.org/users/Yo_Robot/code/Matrix/#a4014ab0a8cf
diff -r 9e4cb305fb24 -r e3b963c560d8 MatrixMath.lib --- a/MatrixMath.lib Sat Oct 22 23:20:26 2011 +0000 +++ b/MatrixMath.lib Sat Dec 03 17:57:25 2011 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/Yo_Robot/code/MatrixMath/#c74cdf14aea2 +http://mbed.org/users/Yo_Robot/code/MatrixMath/#93948a9bbde2
diff -r 9e4cb305fb24 -r e3b963c560d8 TrackVector2D.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TrackVector2D.lib Sat Dec 03 17:57:25 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Yo_Robot/code/TrackVector2D/#958e1e10e536
diff -r 9e4cb305fb24 -r e3b963c560d8 main.cpp
--- a/main.cpp Sat Oct 22 23:20:26 2011 +0000
+++ b/main.cpp Sat Dec 03 17:57:25 2011 +0000
@@ -5,7 +5,7 @@
int main() {
DigitalOut myled(LED1);
- Timer t;
+ Timer t,t2;
t.start();
@@ -18,43 +18,43 @@
<< 4 << 5 << 6
<< 7 << 8 << 9;
- printf( "\nmyMatrix \n");
+ printf( "\nmyMatrix:\n\n");
myMatrix.print();
printf( "\n" );
- /** Matrix operations **/
+ // Matrix operations //
// Add 5 to negative Matrix
anotherMatrix = - myMatrix + 5;
- printf( "Result Matrix: anotherMatrix = - myMatrix + 5\n" );
+ printf( "Result Matrix: anotherMatrix = - myMatrix + 5\n\n" );
anotherMatrix.print();
printf( "\n" );
// Matrix Multiplication *
anotherMatrix *= myMatrix;
- printf( "anotherMatrix = anotherMatrix * myMatrix\n" );
+ printf( "\nanotherMatrix = anotherMatrix * myMatrix\n\n" );
anotherMatrix.print();
printf( "\n" );
// Scalar Matrix Multiplication anotherMatrix *= 0.5
anotherMatrix *= 0.5;
- printf( "Result Matrix *= 0.5:\n" );
+ printf( "\nResult Matrix *= 0.5:\n\n" );
anotherMatrix.print();
printf( " _______________________________ \n" );
- printf("** MEMBER OPERATIONS ** \n\n");
+ printf("\n\n *** MEMBER OPERATIONS *** \n\n");
//Copy myMatrix
Matrix temp( myMatrix );
// Resize Matrix
temp.Resize(4,4);
- printf("\nAdded one Column, one Row to the limitsof myMatrix saved in temp Matrix\n");
+ printf("\nAdded one Column, one Row to the limits of myMatrix saved in temp Matrix\n");
temp.print();
//Delete those new elements, we don't need them anyway.
@@ -72,12 +72,12 @@
printf("\nAdded Just one Row and column to the beginning\n");
temp.print();
- // Take the second Row as a New Matrix
+ // Take the second Row as a new Matrix
anotherMatrix = Matrix::ExportRow( temp, 2 );
printf("\nExport Second Row \n");
anotherMatrix.print();
- // The second Column as a ner Matrix, then transpose it to make it a Row
+ // The second Column as a new Matrix, then transpose it to make it a Row
anotherMatrix = Matrix::ExportCol( temp, 2 );
anotherMatrix = MatrixMath::Transpose( anotherMatrix );
printf("\nAnd Export Second Column and Transpose it \n");
@@ -88,39 +88,74 @@
printf("\nInitial Matrix turned into a single Row\n");
temp.print();
- /** Mtrix Math **/
- printf("\n Matrix Inverse and Determinant\n");
+ // Matrix Math //
+ printf("\n\n *** Matrix Inverse and Determinant ***\n");
+
+ Matrix BigMat( 8, 8 );
- Matrix BigMat( 5, 5 );
- BigMat << 1 << 0 << 1 << 1 << 3
- << 2 << 3 << 4 << 0 << 4
- << 1 << 6 << 1 << 1 << 2
- << 1 << 0 << 2 << 1 << 1
- << 2 << 3 << 4 << 2 << 0;
+ BigMat << 1 << 0.3 << 1.0 << 1 << 3 << 0.5 << 7.12 << 899
+ << 2 << 3.2 << 4.1 << 0 << 4 << 0.8 << 9.26 << 321
+ << 5 << 6.0 << 1 << 1 << 2 << 7.4 << 3.87 << 562
+ << 1 << 0.0 << 2.7 << 1 << 1 << 4.6 << 1.21 << 478
+ << 2 << 3.7 << 48 << 2 << 0 << 77 << 0.19 << 147
+ << 1 << 1.0 << 3.8 << 7 << 1 << 9.9 << 7.25 << 365
+ << 9 << 0.9 << 2.7 << 8 << 0 << 13 << 4.16 << 145
+ << 7 << 23 << 28 << 9 << 9 << 1.7 << 9.16 << 156;
printf( "\nBigMat:\n");
BigMat.print();
printf( "\n" );
+ t2.start();
float determ = MatrixMath::det( BigMat );
+ Matrix myInv = MatrixMath::Inv( BigMat );
+ t2.stop();
+
printf( "\nBigMat's Determinant is: %f \n", determ);
printf( "\n" );
-
- Matrix myInv = MatrixMath::Inv( BigMat );
-
+
printf( "\nBigMat's Inverse is:\n");
myInv.print();
printf( "\n" );
-//---
+ //*** Homogenous Transformations **//
+
+ printf( "\n\n *** TRANSFORMATIONS *** \n\n");
+
+ Matrix rot;
+
+ printf( " RotX 0.5 rad \n" );
+ rot = MatrixMath::RotX(0.5);
+ rot.print();
+ printf( " _______________________________ \n\n" );
+ printf( " RotY 0.5 rad \n" );
+ rot = MatrixMath::RotY(0.5);
+ rot.print();
+ printf( " _______________________________ \n\n" );
+ printf( " RotZ 0.5 rad \n" );
+ rot = MatrixMath::RotZ(0.5);
+ rot.print();
+ printf( " _______________________________ \n\n" );
+
+ printf( " Transl 5x 3y 4z\n" );
+ rot = MatrixMath::Transl( 5, 3, 4 );
+ rot.print();
+ printf( " _______________________________ \n\n" );
+
+ //---
+
t.stop();
- printf( "\nThe time for all those operations in mbed was : %f seconds\n", t.read() );
- printf( "\nMost of it is due to printf though in my core i5 takes 100ms with printf() \n" );
- printf( "\nOnly operations witout any print takes: 0.025 seconds :) \n" );
+ float bigtime = t2.read();
+ float average = 12.149647 - bigtime;
+
+ printf( "\n\nThe time for all those operations in mbed was : %f seconds\n", t.read() );
+ printf( "\nOnly operations witout any print takes: 12.149647 seconds\n" );
+ printf( "\nDue to the 8x8 matrix alone takes: %f \n",bigtime );
+ printf( "\nSo normal 4x4 matrix ops: %f\n", average );
while(1) {
myled = 1;