Andrew SaLoutos
This class provides with operations for Matrix Objects + some changes
Revision 5:93948a9bbde2, committed 2011-10-30
- Comitter:
- Yo_Robot
- Date:
- Sun Oct 30 19:21:30 2011 +0000
- Parent:
- 4:d360c068d55f
- Child:
- 6:aa5e94cddb3f
- Commit message:
- Version 0.9 Simple Kinematic Operations. View Log.c on Matrix Class for details.
Changed in this revision
--- a/MatrixMath.cpp Sun Oct 30 04:48:15 2011 +0000
+++ b/MatrixMath.cpp Sun Oct 30 19:21:30 2011 +0000
@@ -1,9 +1,11 @@
/**
* @brief version 0.9
* @file MatrixMath.cpp
- * @author Erneseto Palacios
+ * @author Ernesto Palacios
*
- * Develop Under GPL v3.0 License
+ * 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
*/
@@ -43,8 +45,8 @@
}else{
printf( "\n\nWANRING: same matrix returned");
- printf( "\nSingular Matrix, cannot perform Invert @matrix " );
-// Mat.print();
+ printf( "\nSingular Matrix, cannot perform Invert @matrix\n " );
+ Mat.print();
printf( "\n _____________\n" );
return Mat;
@@ -83,8 +85,8 @@
}else{
printf( "\n\nWANRING: same matrix returned");
- printf( "\nSingular Matrix, cannot perform Invert @matrix " );
- // Mat.print();
+ printf( "\nSingular Matrix, cannot perform Invert @matrix\n" );
+ Mat.print();
printf( "\n _____________\n" );
return Mat;
@@ -93,7 +95,7 @@
}
}else{
- printf( "\n\nERROR:\nMust be square Matrix @ MatrixMath::Determinant " );
+ printf( "\n\nERROR:\nMust be square Matrix @ MatrixMath::Determinant\n" );
}
}
@@ -107,8 +109,11 @@
return Identity;
}
-
-
+// Very Versitle Function. Accepts two Vector Matrices of any type:
+// Vector types may be: [n,1] dot [n,1]
+// [n,1] dot [1,n] always same
+// [1,n] dot [n,1] 'depth'
+// [1,n] dot [1,n]
float MatrixMath::dot(const Matrix& leftM, const Matrix& rightM)
{
if( leftM.isVector() && rightM.isVector() )
@@ -206,7 +211,7 @@
else if( Mat._nRows == 3 ) // 3x3 Matrix
{
float det;
- MatrixMath dummy;
+ MatrixMath dummy; //For Private Method.
det = dummy.Det3x3( Mat );
return det;
@@ -222,23 +227,23 @@
Matrix reduced( Mat ); // Copy Original Matrix
Matrix::DeleteRow( reduced, 1); // Delete First Row
- if( i%2 == 0 ) //Odd Rows
+ if( i%2 == 0 ) //Even Rows
{
Matrix::DeleteCol( reduced, i+1);
part1 += Mat._matrix[0][i] * MatrixMath::det(reduced);
}
- else // Even Rows
+ else // Odd Rows
{
Matrix::DeleteCol( reduced, i+1);
part2 += Mat._matrix[0][i] * MatrixMath::det(reduced);
}
}
- return part1 - part2; //
+ return part1 - part2;
}
}else{
- printf("\n\nERROR:\nMatrix must be square Matrix @ MatrixMath::Det");
+ printf("\n\nERROR:\nMatrix must be square Matrix @ MatrixMath::det");
}
}
--- a/MatrixMath.h Sun Oct 30 04:48:15 2011 +0000
+++ b/MatrixMath.h Sun Oct 30 19:21:30 2011 +0000
@@ -1,28 +1,25 @@
/**
+ * @brief Version 0.9
* @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
+ * Develop Under GPL v3.0 License
+ * http://www.gnu.org/licenses/gpl-3.0.html
*
*/
-#ifndef MATRIXMATH_H
-#define MATRIXMATH_H
+#ifndef MATRIXMATH_H
+#define MATRIXMATH_H
#include "mbed.h"
#include "Matrix.h"
/**
- * @brief This class provides STATIC methods to perform operations over
- * Matrix Objects
- * version 0.9.
- *
- * Methods will be added as neccesary.
- *
+ * @brief This class provides STATIC methods to perform operations
+ * over Matrix Objects, version 0.9.
*/
class MatrixMath{
public:
@@ -31,14 +28,14 @@
/**@brief
* Transposes Matrix, return new Object.
* @param Mat matrix to calculate
- * @return the determinant
+ * @return Transposed Matrix
*/
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.
+ * Calculate the inverse of a [n,n] Matrix BUT you 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
*/
@@ -46,20 +43,23 @@
/**@brief
- * Creates an identity Matrix, n x n.
+ * Creates an identity [n,n] Matrix
* @param Rows Number of Rowns and Columns
- * @return Identity Matrix of dimensions Rows x Rows
+ * @return Identity Matrix of dimensions [Rows,Rows]
*/
static Matrix Eye( int Rows );
+
/**@brief
* Returns the dot Product of any two same leght vectors.
- * In this case a vector is defined as a [1,n] Matrix.
+ * In this case a vector is defined as a [1,n] or [n,1] Matrix.
+ * Very Flexible Function.
* @param leftM First Vector
* @param rightM Second Vector
* @return Dot Product or Scalar Product.
*/
static float dot( const Matrix& leftM, const Matrix& rightM );
+
/**@brief Calculates the determinant of a Matrix.
* @param Mat matrix to calculate.
@@ -87,14 +87,14 @@
/**@brief
- * Calculates the Rotation Matrix Transform along 'y' axis in radians.
+ * Calculates the Rotation Matrix Transform along 'z' axis in radians.
* @param radians rotation angle.
- * @return Rotation Matrix[4,4] along 'y' axis.
+ * @return Rotation Matrix[4,4] along 'z' axis.
*/
static Matrix RotZ( float radians );
/**@brief
- * Calculates the Translation Matrix to coordenates, (x' y' z')
+ * Calculates the Translation Matrix to coordenates (x' y' z').
* @param x axis translation
* @param y axis translation
* @param z axis translation
--- a/MatrixMath_Kinematics.cpp Sun Oct 30 04:48:15 2011 +0000
+++ b/MatrixMath_Kinematics.cpp Sun Oct 30 19:21:30 2011 +0000
@@ -1,9 +1,11 @@
/**
- * @brief Kinematics Operations
+ * @brief Simple Kinematics Operations
* @file MatrixMath_Kinematics.cpp
- * @author Erneseto Palacios
+ * @author Ernesto Palacios
*
- * Develop Under GPL v3.0 License
+ * Created on september 2011, 09:44 AM.
+ *
+ * Develop Under GPL v3.0 License
* http://www.gnu.org/licenses/gpl-3.0.html
*/
@@ -20,9 +22,9 @@
Matrix rotate( 4, 4 );
rotate << 1 << 0 << 0 << 0
- << 0 << cs << -sn << 0
- << 0 << sn << cs << 0
- << 0 << 0 << 0 << 1;
+ << 0 << cs << -sn << 0
+ << 0 << sn << cs << 0
+ << 0 << 0 << 0 << 1;
return rotate;
@@ -36,9 +38,9 @@
Matrix rotate( 4, 4 );
rotate << cs << 0 << sn << 0
- << 0 << 1 << 0 << 0
- << -sn << 0 << cs << 0
- << 0 << 0 << 0 << 1;
+ << 0 << 1 << 0 << 0
+ << -sn << 0 << cs << 0
+ << 0 << 0 << 0 << 1;
return rotate;
}
@@ -52,8 +54,8 @@
rotate << cs << -sn << 0 << 0
<< sn << cs << 0 << 0
- << 0 << 0 << 1 << 0
- << 0 << 0 << 0 << 1;
+ << 0 << 0 << 1 << 0
+ << 0 << 0 << 0 << 1;
return rotate;
}
@@ -64,7 +66,7 @@
Matrix Translation = MatrixMath::Eye( 3 ); //Identity Matrix
Matrix Position( 4, 1 ); // Position Matrix
- Position << x << y << z << 1; // position @ x,y,z
+ Position << x << y << z << 1; // position @ x,y,z
Matrix::AddRow( Translation, 4 ); // Add Row
Matrix::AddCol( Translation, Position, 4 ); // Add Position Matrix