Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

Estimation/Matrix/Matrix.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 #ifndef __DCM_MATRIX_H
shimniok 0:826c6171fc1b 2 #define __DCM_MATRIX_H
shimniok 0:826c6171fc1b 3
shimniok 0:826c6171fc1b 4 /** Matrix math library */
shimniok 0:826c6171fc1b 5
shimniok 0:826c6171fc1b 6 #define SINGULAR_MATRIX (1<<0)
shimniok 0:826c6171fc1b 7 #define ERR1 (1<<1)
shimniok 0:826c6171fc1b 8 #define ERR2 (1<<2)
shimniok 0:826c6171fc1b 9 #define ERR3 (1<<3)
shimniok 0:826c6171fc1b 10
shimniok 0:826c6171fc1b 11 /** Take cross product of two 3x1 vectors: v1 x v2 = vectorOut
shimniok 0:826c6171fc1b 12 * @param v1 is the first vector
shimniok 0:826c6171fc1b 13 * @param v2 is the second vector
shimniok 0:826c6171fc1b 14 * @returns vectorOut = v1 x v2
shimniok 0:826c6171fc1b 15 */
shimniok 0:826c6171fc1b 16 void Vector_Cross_Product(float vectorOut[3], float v1[3], float v2[3]);
shimniok 0:826c6171fc1b 17
shimniok 0:826c6171fc1b 18 /** Multiple 3x1 vector by scalar: vectorOut = vectorIn times scale2
shimniok 0:826c6171fc1b 19 * @param vectorIn the vector
shimniok 0:826c6171fc1b 20 * @param scale2 is the scalar
shimniok 0:826c6171fc1b 21 * @returns vectorOut the result
shimniok 0:826c6171fc1b 22 */
shimniok 0:826c6171fc1b 23 void Vector_Scale(float vectorOut[3], float vectorIn[3], float scale2);
shimniok 0:826c6171fc1b 24
shimniok 0:826c6171fc1b 25 /** TDot product of two 3x1 vectors vector1 . vector2
shimniok 0:826c6171fc1b 26 * @param vector1 is the first vector
shimniok 0:826c6171fc1b 27 * @param vector2 is the second vector
shimniok 0:826c6171fc1b 28 * @returns float result of dot product
shimniok 0:826c6171fc1b 29 */
shimniok 0:826c6171fc1b 30 float Vector_Dot_Product(float vector1[3], float vector2[3]);
shimniok 0:826c6171fc1b 31
shimniok 0:826c6171fc1b 32 /** Adds two 3x1 vectors: vectorOut = vectorIn1 + vectorIn2
shimniok 0:826c6171fc1b 33 * @param vectorIn1 is the first vector
shimniok 0:826c6171fc1b 34 * @param vectorIn2 is the second vector
shimniok 0:826c6171fc1b 35 * @returns vectorOut is the result of the addition
shimniok 0:826c6171fc1b 36 */
shimniok 0:826c6171fc1b 37 void Vector_Add(float vectorOut[3], float vectorIn1[3], float vectorIn2[3]);
shimniok 0:826c6171fc1b 38
shimniok 0:826c6171fc1b 39 /** Adds two 3x3 matrices: C = A + B
shimniok 0:826c6171fc1b 40 * @param A is the first vector
shimniok 0:826c6171fc1b 41 * @param B is the second vector
shimniok 0:826c6171fc1b 42 * @returns C is the result of the addition
shimniok 0:826c6171fc1b 43 */
shimniok 0:826c6171fc1b 44 void Matrix_Add(float C[3][3], float A[3][3], float B[3][3]);
shimniok 0:826c6171fc1b 45
shimniok 0:826c6171fc1b 46 /** Adds two n x m matrices: C = A + B
shimniok 0:826c6171fc1b 47 * @param A is the first vector
shimniok 0:826c6171fc1b 48 * @param B is the second vector
shimniok 0:826c6171fc1b 49 * @param n is the rows of A, B, C
shimniok 0:826c6171fc1b 50 * @param m is the columns of A, B, C
shimniok 0:826c6171fc1b 51 * @returns C is the result of the addition
shimniok 0:826c6171fc1b 52 */
shimniok 0:826c6171fc1b 53 void Matrix_Add(int n, int m, float *C, float *A, float *B);
shimniok 0:826c6171fc1b 54
shimniok 0:826c6171fc1b 55 void Matrix_Subtract(int n, int m, float *C, float *A, float *B);
shimniok 0:826c6171fc1b 56
shimniok 0:826c6171fc1b 57 /** Multiplies two 3x3 matrices to get a third 3x3 matrix: c = ab
shimniok 0:826c6171fc1b 58 * @param a is the first vector
shimniok 0:826c6171fc1b 59 * @param b is the second vector
shimniok 0:826c6171fc1b 60 * @returns c as the result of the mutliplication
shimniok 0:826c6171fc1b 61 */
shimniok 0:826c6171fc1b 62 void Matrix_Multiply(float c[3][3], float a[3][3], float b[3][3]);
shimniok 0:826c6171fc1b 63
shimniok 0:826c6171fc1b 64 /** Multiplies two 3x3 matrices to get a third 3x3 matrix: c = ab
shimniok 0:826c6171fc1b 65 * @param A is the first matrix
shimniok 0:826c6171fc1b 66 * @param B is the second matrix
shimniok 0:826c6171fc1b 67 * @param n is the rows of A
shimniok 0:826c6171fc1b 68 * @param p is the columns of A and rows of B
shimniok 0:826c6171fc1b 69 * @param m is the columns of B
shimniok 0:826c6171fc1b 70 * @returns C as the result of the mutliplication
shimniok 0:826c6171fc1b 71 */
shimniok 0:826c6171fc1b 72 void Matrix_Multiply(int n, int m, int p, float *C, float *A, float *B);
shimniok 0:826c6171fc1b 73
shimniok 0:826c6171fc1b 74 void Matrix_Transpose(int n, int m, float *C, float *A);
shimniok 0:826c6171fc1b 75
shimniok 0:826c6171fc1b 76 void Matrix_Inverse(int n, float *A);
shimniok 0:826c6171fc1b 77
shimniok 0:826c6171fc1b 78 void Matrix_Inverse(int n, float *C, float *A);
shimniok 0:826c6171fc1b 79
shimniok 0:826c6171fc1b 80 void Matrix_Copy(int n, int m, float *C, float *A);
shimniok 0:826c6171fc1b 81
shimniok 0:826c6171fc1b 82 /** Prints out an m x m matrix
shimniok 0:826c6171fc1b 83 * @param A is the matrix to print
shimniok 0:826c6171fc1b 84 * @param name is the name to print out along with the vector
shimniok 0:826c6171fc1b 85 */
shimniok 0:826c6171fc1b 86 void Matrix_print(int n, int m, float *A, const char *name);
shimniok 0:826c6171fc1b 87
shimniok 0:826c6171fc1b 88 /** Prints out a 1 x 3 vector
shimniok 0:826c6171fc1b 89 * @param A is the 1 x 3 vector to print
shimniok 0:826c6171fc1b 90 * @param name is the name to print out along with the vector
shimniok 0:826c6171fc1b 91 */
shimniok 0:826c6171fc1b 92 void Vector_Print(float A[3], const char *name);
shimniok 0:826c6171fc1b 93
shimniok 0:826c6171fc1b 94 #endif