MatrixMath.h

00001 /**
00002  * @file   MatrixMath.h
00003  * @author Ernesto Palacios
00004  *
00005  * Created on 15 de septiembre de 2011, 09:44 AM.
00006  *
00007  *  Develop Under  GPL v3.0 License
00008  *  http://www.gnu.org/licenses/gpl-3.0.html
00009  *
00010  */
00011 
00012 #ifndef    MATRIXMATH_H
00013 #define    MATRIXMATH_H
00014 
00015 #include "mbed.h"
00016 #include "Matrix.h"
00017 
00018 
00019 /**
00020  * @brief This class provides STATIC methods to preform operations over
00021  * Matrix Objects
00022  * version 0.8.
00023  *
00024  * Methods will be added as neccesary.
00025  *
00026  */
00027 class MatrixMath{
00028 public:
00029 
00030 
00031     /**@brief
00032      * Transposes Matrix, return new Object.
00033      * @param Mat matrix to calculate
00034      * @return the determinant
00035      */
00036     static Matrix Transpose( const Matrix& Mat );
00037 
00038 
00039     /**@brief
00040      * Calculate the inverse of a nxn Matrix BUT check first if the determinant
00041      * is != 0. Same matrix will be return if Det( Mat ) == 0.
00042      * @param Mat matrix to calcute inverse.
00043      * @return Matrix Inverse
00044      */
00045     static Matrix Inv( const Matrix& Mat );
00046 
00047     
00048     static float dotProduct( const Matrix& leftM, const Matrix& rightM );
00049 
00050     /**@brief Calculates the determinant of a Matrix.
00051      * @param Mat matrix to calculate.
00052      * @return the determinant.
00053      */
00054     static float det( const Matrix& Mat );
00055 
00056 
00057     //**  For Kinematics **//
00058 
00059     static Matrix RotX( const Matrix& matrix, float radians );
00060 
00061     static Matrix RotY( const Matrix& matrix, float radians );
00062 
00063     static Matrix RotZ( const Matrix& matrix, float radians );
00064 
00065     static Matrix Transl( const Matrix& matrix, float x, float y, float z );
00066 
00067 private:
00068 
00069     /**@brief
00070      * Calculates the Determinant of a 3x3 Matrix
00071      * @param Mat Already made sure is a 3 by 3
00072      * @return Float, determinant.
00073      */
00074     float Det3x3( const Matrix& Mat );
00075 
00076 };
00077 
00078 #endif    /* MATRIXMATH_H */