main.cpp

00001 #include "mbed.h"
00002 #include "Matrix.h"
00003 #include "MatrixMath.h"
00004 
00005 int main() {
00006 
00007     DigitalOut myled(LED1);
00008     Timer t,t2;
00009     
00010     t.start();
00011  
00012 //---
00013     Matrix myMatrix(3,3);
00014     Matrix anotherMatrix;
00015 
00016     // Fill Matrix with data.
00017     myMatrix << 1  << 2  << 3
00018              << 4  << 5  << 6
00019              << 7  << 8  << 9;
00020 
00021     printf( "\nmyMatrix:\n\n");
00022     myMatrix.print();
00023     printf( "\n" );
00024 
00025     
00026     // Matrix operations //
00027 
00028     // Add 5 to negative Matrix 
00029     anotherMatrix = - myMatrix + 5;
00030 
00031     printf( "Result Matrix: anotherMatrix = - myMatrix + 5\n\n" );
00032     anotherMatrix.print();
00033     printf( "\n" );
00034     
00035     // Matrix Multiplication *
00036     anotherMatrix *=  myMatrix;
00037 
00038     printf( "\nanotherMatrix = anotherMatrix * myMatrix\n\n" );
00039     anotherMatrix.print();
00040     printf( "\n" );
00041     
00042     // Scalar Matrix Multiplication anotherMatrix *= 0.5
00043     anotherMatrix *= 0.5;
00044 
00045     printf( "\nResult Matrix *= 0.5:\n\n" );
00046     anotherMatrix.print();
00047     printf( "    _______________________________ \n" );
00048 
00049 
00050     printf("\n\n *** MEMBER OPERATIONS *** \n\n");
00051 
00052     //Copy myMatrix
00053     Matrix temp( myMatrix );
00054 
00055     // Resize Matrix
00056     temp.Resize(4,4);
00057     printf("\nAdded one Column, one Row to the limits of myMatrix saved in temp Matrix\n");
00058     temp.print();
00059 
00060     //Delete those new elements, we don't need them anyway.
00061     Matrix::DeleteRow( temp, 4 );
00062     Matrix::DeleteCol( temp, 4 );
00063 
00064     printf("\nBack to normal\n");
00065     temp.print();
00066 
00067     
00068     // Make room at the begining of Matrix
00069     Matrix::AddRow( temp, 1 );
00070     Matrix::AddCol( temp, 1 );
00071     
00072     printf("\nAdded Just one Row and column to the beginning\n");
00073     temp.print();
00074 
00075     // Take the second Row as a new Matrix
00076     anotherMatrix = Matrix::ExportRow( temp, 2 );
00077     printf("\nExport Second Row \n");
00078     anotherMatrix.print();
00079 
00080     // The second Column as a new Matrix, then transpose it to make it a Row
00081     anotherMatrix = Matrix::ExportCol( temp, 2 );
00082     anotherMatrix = MatrixMath::Transpose( anotherMatrix );
00083     printf("\nAnd Export Second Column and Transpose it \n");
00084     anotherMatrix.print();
00085 
00086     // This will Check to see if your are reduce to a single Row or Column
00087     temp = Matrix::ToPackedVector( myMatrix );
00088     printf("\nInitial Matrix turned into a single Row\n");
00089     temp.print();
00090            
00091     //  Matrix Math  //
00092     printf("\n\n *** Matrix Inverse and Determinant ***\n");
00093     
00094     Matrix BigMat( 8, 8 );
00095     
00096     BigMat   << 1 << 0.3 << 1.0 << 1 << 3 << 0.5 << 7.12 << 899
00097              << 2 << 3.2 << 4.1 << 0 << 4 << 0.8 << 9.26 << 321
00098              << 5 << 6.0 << 1   << 1 << 2 << 7.4 << 3.87 << 562
00099              << 1 << 0.0 << 2.7 << 1 << 1 << 4.6 << 1.21 << 478
00100              << 2 << 3.7 << 48  << 2 << 0 << 77  << 0.19 << 147
00101              << 1 << 1.0 << 3.8 << 7 << 1 << 9.9 << 7.25 << 365
00102              << 9 << 0.9 << 2.7 << 8 << 0 << 13  << 4.16 << 145
00103              << 7 << 23  << 28  << 9 << 9 << 1.7 << 9.16 << 156;
00104 
00105     printf( "\nBigMat:\n");
00106     BigMat.print();
00107     printf( "\n" );
00108 
00109     t2.start();
00110     float determ = MatrixMath::det( BigMat );
00111 
00112     Matrix myInv = MatrixMath::Inv( BigMat );
00113     t2.stop();
00114 
00115     printf( "\nBigMat's Determinant is: %f \n", determ);
00116     printf( "\n" );
00117     
00118     printf( "\nBigMat's Inverse is:\n");
00119     myInv.print();
00120     printf( "\n" );
00121 
00122     //***  Homogenous Transformations **//
00123     
00124     printf( "\n\n *** TRANSFORMATIONS *** \n\n");
00125 
00126     Matrix rot;
00127 
00128     printf( " RotX  0.5 rad \n" );
00129     rot = MatrixMath::RotX(0.5);
00130     rot.print();
00131     printf( "    _______________________________ \n\n" );
00132 
00133     printf( " RotY  0.5 rad \n" );
00134     rot = MatrixMath::RotY(0.5);
00135     rot.print();
00136     printf( "    _______________________________ \n\n" );
00137 
00138     printf( " RotZ  0.5 rad \n" );
00139     rot = MatrixMath::RotZ(0.5);
00140     rot.print();
00141     printf( "    _______________________________ \n\n" );
00142 
00143     printf( " Transl  5x 3y 4z\n" );
00144     rot = MatrixMath::Transl( 5, 3, 4 );
00145     rot.print();
00146     printf( "    _______________________________ \n\n" );
00147 
00148  //---
00149  
00150     t.stop();
00151     
00152     float bigtime = t2.read();
00153     float average = 12.149647 - bigtime;
00154         
00155     printf( "\n\nThe time for all those operations in mbed was : %f seconds\n", t.read() );
00156     printf( "\nOnly operations witout any print takes: 12.149647 seconds\n" );
00157     printf( "\nDue to the 8x8 matrix alone takes: %f \n",bigtime );
00158     printf( "\nSo normal 4x4 matrix ops: %f\n", average );
00159            
00160     while(1) {
00161         myled = 1;
00162         wait(0.2);
00163         myled = 0;
00164         wait(0.2);
00165     }
00166 }