Cubli library
Matrix/Matrix.cpp@2:dc7840a67f77, 2019-02-25 (annotated)
- Committer:
- fbob
- Date:
- Mon Feb 25 16:39:52 2019 +0000
- Revision:
- 2:dc7840a67f77
- Parent:
- 1:085840a3d767
Update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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fbob | 0:431ee55036ca | 1 | #include "Matrix.h" |
fbob | 0:431ee55036ca | 2 | |
fbob | 2:dc7840a67f77 | 3 | Matrix::Matrix() |
fbob | 0:431ee55036ca | 4 | { |
fbob | 2:dc7840a67f77 | 5 | // Set matrix size |
fbob | 2:dc7840a67f77 | 6 | rows = 1; |
fbob | 2:dc7840a67f77 | 7 | cols = 1; |
fbob | 1:085840a3d767 | 8 | // Allocate memory |
fbob | 2:dc7840a67f77 | 9 | allocate_memmory(); |
fbob | 2:dc7840a67f77 | 10 | // Initialize data |
fbob | 2:dc7840a67f77 | 11 | data[0][0] = 0.0; |
fbob | 0:431ee55036ca | 12 | } |
fbob | 0:431ee55036ca | 13 | |
fbob | 2:dc7840a67f77 | 14 | Matrix::Matrix(int r, int c) |
fbob | 0:431ee55036ca | 15 | { |
fbob | 2:dc7840a67f77 | 16 | // Set matrix size |
fbob | 2:dc7840a67f77 | 17 | rows = r; |
fbob | 2:dc7840a67f77 | 18 | cols = c; |
fbob | 1:085840a3d767 | 19 | // Allocate memory |
fbob | 2:dc7840a67f77 | 20 | allocate_memmory(); |
fbob | 2:dc7840a67f77 | 21 | // Initialize data |
fbob | 2:dc7840a67f77 | 22 | for (int i = 0; i < rows; i++) { |
fbob | 2:dc7840a67f77 | 23 | for (int j = 0; j < cols; j++) { |
fbob | 2:dc7840a67f77 | 24 | data[i][j] = 0.0; |
fbob | 1:085840a3d767 | 25 | } |
fbob | 1:085840a3d767 | 26 | } |
fbob | 0:431ee55036ca | 27 | } |
fbob | 0:431ee55036ca | 28 | |
fbob | 0:431ee55036ca | 29 | Matrix::~Matrix() |
fbob | 0:431ee55036ca | 30 | { |
fbob | 0:431ee55036ca | 31 | // Free memory |
fbob | 2:dc7840a67f77 | 32 | deallocate_memmory(); |
fbob | 0:431ee55036ca | 33 | } |
fbob | 0:431ee55036ca | 34 | |
fbob | 1:085840a3d767 | 35 | Matrix& Matrix::operator=(const Matrix& m) |
fbob | 1:085840a3d767 | 36 | { |
fbob | 2:dc7840a67f77 | 37 | // Re-allocate memmory (in case size is different) |
fbob | 2:dc7840a67f77 | 38 | if (rows != m.rows || cols != m.cols) { |
fbob | 2:dc7840a67f77 | 39 | deallocate_memmory(); |
fbob | 2:dc7840a67f77 | 40 | rows = m.rows; |
fbob | 2:dc7840a67f77 | 41 | cols = m.cols; |
fbob | 2:dc7840a67f77 | 42 | allocate_memmory(); |
fbob | 2:dc7840a67f77 | 43 | } |
fbob | 2:dc7840a67f77 | 44 | // Copy data |
fbob | 2:dc7840a67f77 | 45 | for (int i = 0; i < rows; i++) { |
fbob | 2:dc7840a67f77 | 46 | for (int j = 0; j < cols; j++) { |
fbob | 2:dc7840a67f77 | 47 | data[i][j] = m.data[i][j]; |
fbob | 1:085840a3d767 | 48 | } |
fbob | 1:085840a3d767 | 49 | } |
fbob | 1:085840a3d767 | 50 | return *this; |
fbob | 1:085840a3d767 | 51 | } |
fbob | 1:085840a3d767 | 52 | |
fbob | 2:dc7840a67f77 | 53 | float& Matrix::operator()(int r, int c) |
fbob | 0:431ee55036ca | 54 | { |
fbob | 1:085840a3d767 | 55 | // Return cell data |
fbob | 2:dc7840a67f77 | 56 | return data[r-1][c-1]; |
fbob | 2:dc7840a67f77 | 57 | } |
fbob | 2:dc7840a67f77 | 58 | |
fbob | 2:dc7840a67f77 | 59 | void Matrix::allocate_memmory() |
fbob | 2:dc7840a67f77 | 60 | { |
fbob | 2:dc7840a67f77 | 61 | data = (float **)malloc(rows * sizeof(float *)); |
fbob | 2:dc7840a67f77 | 62 | for (int i = 0; i < rows; i++) { |
fbob | 2:dc7840a67f77 | 63 | data[i] = (float *)malloc(cols * sizeof(float)); |
fbob | 2:dc7840a67f77 | 64 | } |
fbob | 2:dc7840a67f77 | 65 | } |
fbob | 2:dc7840a67f77 | 66 | |
fbob | 2:dc7840a67f77 | 67 | void Matrix::deallocate_memmory() |
fbob | 2:dc7840a67f77 | 68 | { |
fbob | 2:dc7840a67f77 | 69 | for (int i = 0; i < rows; i++) { |
fbob | 2:dc7840a67f77 | 70 | free(data[i]); |
fbob | 2:dc7840a67f77 | 71 | } |
fbob | 2:dc7840a67f77 | 72 | free(data); |
fbob | 0:431ee55036ca | 73 | } |
fbob | 0:431ee55036ca | 74 | |
fbob | 0:431ee55036ca | 75 | Matrix operator+(const Matrix& A, const Matrix& B) |
fbob | 0:431ee55036ca | 76 | { |
fbob | 2:dc7840a67f77 | 77 | // Auxiliary matrix where C = A+B |
fbob | 2:dc7840a67f77 | 78 | Matrix C(A.rows,A.cols); |
fbob | 2:dc7840a67f77 | 79 | for (int i = 0; i < C.rows; i++) { |
fbob | 2:dc7840a67f77 | 80 | for (int j = 0; j < C.cols; j++) { |
fbob | 2:dc7840a67f77 | 81 | C.data[i][j] = A.data[i][j]+B.data[i][j]; |
fbob | 2:dc7840a67f77 | 82 | } |
fbob | 0:431ee55036ca | 83 | } |
fbob | 0:431ee55036ca | 84 | return C; |
fbob | 0:431ee55036ca | 85 | } |
fbob | 0:431ee55036ca | 86 | |
fbob | 0:431ee55036ca | 87 | Matrix operator-(const Matrix& A, const Matrix& B) |
fbob | 0:431ee55036ca | 88 | { |
fbob | 0:431ee55036ca | 89 | // Auxiliary matrix where C = A-B |
fbob | 2:dc7840a67f77 | 90 | Matrix C(A.rows,A.cols); |
fbob | 2:dc7840a67f77 | 91 | for (int i = 0; i < C.rows; i++) { |
fbob | 2:dc7840a67f77 | 92 | for (int j = 0; j < C.cols; j++) { |
fbob | 2:dc7840a67f77 | 93 | C.data[i][j] = A.data[i][j]-B.data[i][j]; |
fbob | 2:dc7840a67f77 | 94 | } |
fbob | 2:dc7840a67f77 | 95 | } |
fbob | 2:dc7840a67f77 | 96 | return C; |
fbob | 2:dc7840a67f77 | 97 | } |
fbob | 2:dc7840a67f77 | 98 | |
fbob | 2:dc7840a67f77 | 99 | Matrix operator-(const Matrix& A) |
fbob | 2:dc7840a67f77 | 100 | { |
fbob | 2:dc7840a67f77 | 101 | // Auxiliary matrix where C = -A |
fbob | 2:dc7840a67f77 | 102 | Matrix C(A.rows,A.cols); |
fbob | 2:dc7840a67f77 | 103 | for (int i = 0; i < C.rows; i++) { |
fbob | 2:dc7840a67f77 | 104 | for (int j = 0; j < C.cols; j++) { |
fbob | 2:dc7840a67f77 | 105 | C.data[i][j] = -A.data[i][j]; |
fbob | 1:085840a3d767 | 106 | } |
fbob | 0:431ee55036ca | 107 | } |
fbob | 0:431ee55036ca | 108 | return C; |
fbob | 0:431ee55036ca | 109 | } |
fbob | 0:431ee55036ca | 110 | |
fbob | 0:431ee55036ca | 111 | Matrix operator*(const Matrix& A, const Matrix& B) |
fbob | 0:431ee55036ca | 112 | { |
fbob | 0:431ee55036ca | 113 | // Auxiliary matrix where C = A*B |
fbob | 2:dc7840a67f77 | 114 | Matrix C(A.rows,B.cols); |
fbob | 2:dc7840a67f77 | 115 | for (int i = 0; i < A.rows; i++) { |
fbob | 2:dc7840a67f77 | 116 | for (int j = 0; j < B.cols; j++) { |
fbob | 2:dc7840a67f77 | 117 | for (int k = 0; k < A.cols; k++) { |
fbob | 2:dc7840a67f77 | 118 | C.data[i][j] += A.data[i][k]*B.data[k][j]; |
fbob | 1:085840a3d767 | 119 | } |
fbob | 0:431ee55036ca | 120 | } |
fbob | 0:431ee55036ca | 121 | } |
fbob | 0:431ee55036ca | 122 | return C; |
fbob | 0:431ee55036ca | 123 | } |
fbob | 0:431ee55036ca | 124 | |
fbob | 2:dc7840a67f77 | 125 | Matrix operator*(float k, const Matrix& A) |
fbob | 0:431ee55036ca | 126 | { |
fbob | 2:dc7840a67f77 | 127 | // Auxiliary matrix where B = k*A |
fbob | 2:dc7840a67f77 | 128 | Matrix B(A.rows,A.cols); |
fbob | 2:dc7840a67f77 | 129 | for (int i = 0; i < B.rows; i++) { |
fbob | 2:dc7840a67f77 | 130 | for (int j = 0; j < B.cols; j++) { |
fbob | 2:dc7840a67f77 | 131 | B.data[i][j] = k*A.data[i][j]; |
fbob | 1:085840a3d767 | 132 | } |
fbob | 1:085840a3d767 | 133 | } |
fbob | 2:dc7840a67f77 | 134 | return B; |
fbob | 2:dc7840a67f77 | 135 | } |
fbob | 2:dc7840a67f77 | 136 | |
fbob | 2:dc7840a67f77 | 137 | Matrix operator*(const Matrix& A, float k) |
fbob | 2:dc7840a67f77 | 138 | { |
fbob | 2:dc7840a67f77 | 139 | // Auxiliary matrix where B = A*k |
fbob | 2:dc7840a67f77 | 140 | Matrix B(A.rows,A.cols); |
fbob | 2:dc7840a67f77 | 141 | for (int i = 0; i < B.rows; i++) { |
fbob | 2:dc7840a67f77 | 142 | for (int j = 0; j < B.cols; j++) { |
fbob | 2:dc7840a67f77 | 143 | B.data[i][j] = A.data[i][j]*k; |
fbob | 2:dc7840a67f77 | 144 | } |
fbob | 2:dc7840a67f77 | 145 | } |
fbob | 2:dc7840a67f77 | 146 | return B; |
fbob | 1:085840a3d767 | 147 | } |
fbob | 1:085840a3d767 | 148 | |
fbob | 2:dc7840a67f77 | 149 | Matrix operator/(const Matrix& A, float k) |
fbob | 1:085840a3d767 | 150 | { |
fbob | 2:dc7840a67f77 | 151 | // Auxiliary matrix where B = A/k |
fbob | 2:dc7840a67f77 | 152 | Matrix B(A.rows,A.cols); |
fbob | 2:dc7840a67f77 | 153 | for (int i = 0; i < B.rows; i++) { |
fbob | 2:dc7840a67f77 | 154 | for (int j = 0; j < B.cols; j++) { |
fbob | 2:dc7840a67f77 | 155 | B.data[i][j] = A.data[i][j]/k; |
fbob | 1:085840a3d767 | 156 | } |
fbob | 1:085840a3d767 | 157 | } |
fbob | 2:dc7840a67f77 | 158 | return B; |
fbob | 1:085840a3d767 | 159 | } |
fbob | 1:085840a3d767 | 160 | |
fbob | 2:dc7840a67f77 | 161 | Matrix eye(int r, int c) |
fbob | 1:085840a3d767 | 162 | { |
fbob | 2:dc7840a67f77 | 163 | if (c == 0) { |
fbob | 2:dc7840a67f77 | 164 | c = r; |
fbob | 2:dc7840a67f77 | 165 | } |
fbob | 2:dc7840a67f77 | 166 | Matrix m(r, c); |
fbob | 2:dc7840a67f77 | 167 | for (int i = 0; i < m.rows; i++) { |
fbob | 2:dc7840a67f77 | 168 | for (int j = 0; j < m.cols; j++) { |
fbob | 2:dc7840a67f77 | 169 | if (i == j) { |
fbob | 2:dc7840a67f77 | 170 | m.data[i][j] = 1.0; |
fbob | 2:dc7840a67f77 | 171 | } |
fbob | 1:085840a3d767 | 172 | } |
fbob | 0:431ee55036ca | 173 | } |
fbob | 2:dc7840a67f77 | 174 | return m; |
fbob | 2:dc7840a67f77 | 175 | } |
fbob | 2:dc7840a67f77 | 176 | |
fbob | 2:dc7840a67f77 | 177 | Matrix zeros(int r, int c) |
fbob | 2:dc7840a67f77 | 178 | { |
fbob | 2:dc7840a67f77 | 179 | if (c == 0) { |
fbob | 2:dc7840a67f77 | 180 | c = r; |
fbob | 2:dc7840a67f77 | 181 | } |
fbob | 2:dc7840a67f77 | 182 | Matrix m(r, c); |
fbob | 2:dc7840a67f77 | 183 | return m; |
fbob | 0:431ee55036ca | 184 | } |
fbob | 0:431ee55036ca | 185 | |
fbob | 0:431ee55036ca | 186 | Matrix transpose(const Matrix& A) |
fbob | 0:431ee55036ca | 187 | { |
fbob | 2:dc7840a67f77 | 188 | // Auxiliary matrix where B = A' |
fbob | 2:dc7840a67f77 | 189 | Matrix B(A.cols, A.rows); |
fbob | 2:dc7840a67f77 | 190 | for (int i = 0; i < B.rows; i++) { |
fbob | 2:dc7840a67f77 | 191 | for (int j = 0; j < B.cols; j++) { |
fbob | 2:dc7840a67f77 | 192 | B.data[i][j] = A.data[j][i]; |
fbob | 0:431ee55036ca | 193 | } |
fbob | 0:431ee55036ca | 194 | } |
fbob | 2:dc7840a67f77 | 195 | return B; |
fbob | 0:431ee55036ca | 196 | } |
fbob | 0:431ee55036ca | 197 | |
fbob | 0:431ee55036ca | 198 | Matrix inverse(const Matrix& A) |
fbob | 0:431ee55036ca | 199 | { |
fbob | 1:085840a3d767 | 200 | // Apply A = LDL' factorization where L is a lower triangular matrix and D |
fbob | 0:431ee55036ca | 201 | // is a block diagonal matrix |
fbob | 2:dc7840a67f77 | 202 | Matrix L(A.rows, A.cols); |
fbob | 2:dc7840a67f77 | 203 | Matrix D(A.rows, A.cols); |
fbob | 0:431ee55036ca | 204 | float L_sum; |
fbob | 0:431ee55036ca | 205 | float D_sum; |
fbob | 2:dc7840a67f77 | 206 | for (int i = 0; i < A.rows; i++) { |
fbob | 2:dc7840a67f77 | 207 | for (int j = 0; j < A.rows; j++) { |
fbob | 1:085840a3d767 | 208 | if (i >= j) { |
fbob | 1:085840a3d767 | 209 | if (i == j) { |
fbob | 2:dc7840a67f77 | 210 | L.data[i][j] = 1.0; |
fbob | 0:431ee55036ca | 211 | D_sum = 0.0; |
fbob | 2:dc7840a67f77 | 212 | for (int k = 0; k <= (i-1); k++) { |
fbob | 2:dc7840a67f77 | 213 | D_sum += L.data[i][k]*L.data[i][k]*D.data[k][k]; |
fbob | 0:431ee55036ca | 214 | } |
fbob | 2:dc7840a67f77 | 215 | D.data[i][j] = A.data[i][j] - D_sum; |
fbob | 1:085840a3d767 | 216 | } else { |
fbob | 0:431ee55036ca | 217 | L_sum = 0.0; |
fbob | 2:dc7840a67f77 | 218 | for (int k = 0; k <= (j-1); k++) { |
fbob | 2:dc7840a67f77 | 219 | L_sum += L.data[i][k]*L.data[j][k]*D.data[k][k]; |
fbob | 0:431ee55036ca | 220 | } |
fbob | 2:dc7840a67f77 | 221 | L.data[i][j] = (1.0/D.data[j][j])*(A.data[i][j]-L_sum); |
fbob | 0:431ee55036ca | 222 | } |
fbob | 0:431ee55036ca | 223 | } |
fbob | 0:431ee55036ca | 224 | } |
fbob | 0:431ee55036ca | 225 | } |
fbob | 1:085840a3d767 | 226 | // Compute the inverse of L and D matrices |
fbob | 2:dc7840a67f77 | 227 | Matrix L_inv(A.rows, A.cols); |
fbob | 2:dc7840a67f77 | 228 | Matrix D_inv(A.rows, A.cols); |
fbob | 0:431ee55036ca | 229 | float L_inv_sum; |
fbob | 2:dc7840a67f77 | 230 | for (int i = 0; i < A.rows; i++) { |
fbob | 2:dc7840a67f77 | 231 | for (int j = 0; j < A.rows; j++) { |
fbob | 1:085840a3d767 | 232 | if (i >= j) { |
fbob | 1:085840a3d767 | 233 | if (i == j) { |
fbob | 2:dc7840a67f77 | 234 | L_inv.data[i][j] = 1.0/L.data[i][j]; |
fbob | 2:dc7840a67f77 | 235 | D_inv.data[i][j] = 1.0/D.data[i][j]; |
fbob | 1:085840a3d767 | 236 | } else { |
fbob | 0:431ee55036ca | 237 | L_inv_sum = 0.0; |
fbob | 1:085840a3d767 | 238 | for (int k = j; k <= (i-1); k++) { |
fbob | 2:dc7840a67f77 | 239 | L_inv_sum += L.data[i][k]*L_inv.data[k][j]; |
fbob | 0:431ee55036ca | 240 | } |
fbob | 2:dc7840a67f77 | 241 | L_inv.data[i][j] = -L_inv_sum; |
fbob | 0:431ee55036ca | 242 | } |
fbob | 0:431ee55036ca | 243 | } |
fbob | 0:431ee55036ca | 244 | } |
fbob | 0:431ee55036ca | 245 | } |
fbob | 1:085840a3d767 | 246 | // Compute the inverse of A matrix in terms of the inverse of L and D |
fbob | 1:085840a3d767 | 247 | // matrices |
fbob | 0:431ee55036ca | 248 | return transpose(L_inv)*D_inv*L_inv; |
fbob | 0:431ee55036ca | 249 | } |
fbob | 1:085840a3d767 | 250 | |
fbob | 2:dc7840a67f77 | 251 | float trace(const Matrix& A) |
fbob | 2:dc7840a67f77 | 252 | { |
fbob | 2:dc7840a67f77 | 253 | float t = 0.0; |
fbob | 2:dc7840a67f77 | 254 | for (int i = 0; i < A.rows; i++) { |
fbob | 2:dc7840a67f77 | 255 | t += A.data[i][i]; |
fbob | 2:dc7840a67f77 | 256 | } |
fbob | 2:dc7840a67f77 | 257 | return t; |
fbob | 2:dc7840a67f77 | 258 | } |
fbob | 2:dc7840a67f77 | 259 | |
fbob | 2:dc7840a67f77 | 260 | Matrix cross(const Matrix& u, const Matrix& v) |
fbob | 2:dc7840a67f77 | 261 | { |
fbob | 2:dc7840a67f77 | 262 | // Auxiliary matrix where w = uXv |
fbob | 2:dc7840a67f77 | 263 | Matrix w(u.rows,u.cols); |
fbob | 2:dc7840a67f77 | 264 | w.data[0][0] = u.data[1][0]*v.data[2][0]-u.data[2][0]*v.data[1][0]; |
fbob | 2:dc7840a67f77 | 265 | w.data[1][0] = u.data[2][0]*v.data[0][0]-u.data[0][0]*v.data[2][0]; |
fbob | 2:dc7840a67f77 | 266 | w.data[2][0] = u.data[0][0]*v.data[1][0]-u.data[1][0]*v.data[0][0]; |
fbob | 2:dc7840a67f77 | 267 | return w; |
fbob | 2:dc7840a67f77 | 268 | } |
fbob | 2:dc7840a67f77 | 269 | |
fbob | 1:085840a3d767 | 270 | float norm(const Matrix& A) |
fbob | 1:085840a3d767 | 271 | { |
fbob | 2:dc7840a67f77 | 272 | float n = 0.0; |
fbob | 2:dc7840a67f77 | 273 | for (int i = 0; i < A.rows; i++) { |
fbob | 2:dc7840a67f77 | 274 | n += A.data[i][0]*A.data[i][0]; |
fbob | 2:dc7840a67f77 | 275 | } |
fbob | 1:085840a3d767 | 276 | return sqrt(n); |
fbob | 1:085840a3d767 | 277 | } |
fbob | 2:dc7840a67f77 | 278 | |
fbob | 2:dc7840a67f77 | 279 | Matrix dcm2quat(const Matrix& R) |
fbob | 2:dc7840a67f77 | 280 | { |
fbob | 2:dc7840a67f77 | 281 | Matrix q(4, 1); |
fbob | 2:dc7840a67f77 | 282 | float tr = trace(R); |
fbob | 2:dc7840a67f77 | 283 | if (tr > 0.0) { |
fbob | 2:dc7840a67f77 | 284 | float sqtrp1 = sqrt( tr + 1.0); |
fbob | 2:dc7840a67f77 | 285 | q.data[0][0] = 0.5*sqtrp1; |
fbob | 2:dc7840a67f77 | 286 | q.data[1][0] = (R.data[1][2] - R.data[2][1])/(2.0*sqtrp1); |
fbob | 2:dc7840a67f77 | 287 | q.data[2][0] = (R.data[2][0] - R.data[0][2])/(2.0*sqtrp1); |
fbob | 2:dc7840a67f77 | 288 | q.data[3][0] = (R.data[0][1] - R.data[1][0])/(2.0*sqtrp1); |
fbob | 2:dc7840a67f77 | 289 | } else { |
fbob | 2:dc7840a67f77 | 290 | if ((R.data[1][1] > R.data[0][0]) && (R.data[1][1] > R.data[2][2])) { |
fbob | 2:dc7840a67f77 | 291 | float sqdip1 = sqrt(R.data[1][1] - R.data[0][0] - R.data[2][2] + 1.0 ); |
fbob | 2:dc7840a67f77 | 292 | q.data[2][0] = 0.5*sqdip1; |
fbob | 2:dc7840a67f77 | 293 | if ( sqdip1 != 0 ) { |
fbob | 2:dc7840a67f77 | 294 | sqdip1 = 0.5/sqdip1; |
fbob | 2:dc7840a67f77 | 295 | } |
fbob | 2:dc7840a67f77 | 296 | q.data[0][0] = (R.data[2][0] - R.data[0][2])*sqdip1; |
fbob | 2:dc7840a67f77 | 297 | q.data[1][0] = (R.data[0][1] + R.data[1][0])*sqdip1; |
fbob | 2:dc7840a67f77 | 298 | q.data[3][0] = (R.data[1][2] + R.data[2][1])*sqdip1; |
fbob | 2:dc7840a67f77 | 299 | } else if (R.data[2][2] > R.data[0][0]) { |
fbob | 2:dc7840a67f77 | 300 | float sqdip1 = sqrt(R.data[2][2] - R.data[0][0] - R.data[1][1] + 1.0 ); |
fbob | 2:dc7840a67f77 | 301 | q.data[3][0] = 0.5*sqdip1; |
fbob | 2:dc7840a67f77 | 302 | if ( sqdip1 != 0 ) { |
fbob | 2:dc7840a67f77 | 303 | sqdip1 = 0.5/sqdip1; |
fbob | 2:dc7840a67f77 | 304 | } |
fbob | 2:dc7840a67f77 | 305 | q.data[0][0] = (R.data[0][1] - R.data[1][0])*sqdip1; |
fbob | 2:dc7840a67f77 | 306 | q.data[1][0] = (R.data[2][0] + R.data[0][2])*sqdip1; |
fbob | 2:dc7840a67f77 | 307 | q.data[2][0] = (R.data[1][2] + R.data[2][1])*sqdip1; |
fbob | 2:dc7840a67f77 | 308 | } else { |
fbob | 2:dc7840a67f77 | 309 | float sqdip1 = sqrt(R.data[0][0] - R.data[1][1] - R.data[2][2] + 1.0 ); |
fbob | 2:dc7840a67f77 | 310 | q.data[1][0] = 0.5*sqdip1; |
fbob | 2:dc7840a67f77 | 311 | if ( sqdip1 != 0 ) { |
fbob | 2:dc7840a67f77 | 312 | sqdip1 = 0.5/sqdip1; |
fbob | 2:dc7840a67f77 | 313 | } |
fbob | 2:dc7840a67f77 | 314 | q.data[0][0] = (R.data[1][2] - R.data[2][1])*sqdip1; |
fbob | 2:dc7840a67f77 | 315 | q.data[2][0] = (R.data[0][1] + R.data[1][0])*sqdip1; |
fbob | 2:dc7840a67f77 | 316 | q.data[3][0] = (R.data[2][0] + R.data[0][2])*sqdip1; |
fbob | 2:dc7840a67f77 | 317 | } |
fbob | 2:dc7840a67f77 | 318 | } |
fbob | 2:dc7840a67f77 | 319 | return q; |
fbob | 2:dc7840a67f77 | 320 | } |