Diff: MatrixMath/MatrixMath.h

Revision:

0:a0285293f6a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MatrixMath/MatrixMath.h	Tue Mar 20 12:43:16 2012 +0000
@@ -0,0 +1,78 @@
+/**
+ * @file   MatrixMath.h
+ * @author Ernesto Palacios
+ *
+ * Created on 15 de septiembre de 2011, 09:44 AM.
+ *
+ *  Develop Under  GPL v3.0 License
+ *  http://www.gnu.org/licenses/gpl-3.0.html
+ *
+ */
+
+#ifndef    MATRIXMATH_H
+#define    MATRIXMATH_H
+
+#include "mbed.h"
+#include "Matrix.h"
+
+
+/**
+ * @brief This class provides STATIC methods to preform operations over
+ * Matrix Objects
+ * version 0.8.
+ *
+ * Methods will be added as neccesary.
+ *
+ */
+class MatrixMath{
+public:
+
+
+    /**@brief
+     * Transposes Matrix, return new Object.
+     * @param Mat matrix to calculate
+     * @return the determinant
+     */
+    static Matrix Transpose( const Matrix& Mat );
+
+
+    /**@brief
+     * Calculate the inverse of a nxn Matrix BUT check first if the determinant
+     * is != 0. Same matrix will be return if Det( Mat ) == 0.
+     * @param Mat matrix to calcute inverse.
+     * @return Matrix Inverse
+     */
+    static Matrix Inv( const Matrix& Mat );
+
+    
+    static float dotProduct( const Matrix& leftM, const Matrix& rightM );
+
+    /**@brief Calculates the determinant of a Matrix.
+     * @param Mat matrix to calculate.
+     * @return the determinant.
+     */
+    static float det( const Matrix& Mat );
+
+
+    //**  For Kinematics **//
+
+    static Matrix RotX( const Matrix& matrix, float radians );
+
+    static Matrix RotY( const Matrix& matrix, float radians );
+
+    static Matrix RotZ( const Matrix& matrix, float radians );
+
+    static Matrix Transl( const Matrix& matrix, float x, float y, float z );
+
+private:
+
+    /**@brief
+     * Calculates the Determinant of a 3x3 Matrix
+     * @param Mat Already made sure is a 3 by 3
+     * @return Float, determinant.
+     */
+    float Det3x3( const Matrix& Mat );
+
+};
+
+#endif    /* MATRIXMATH_H */