Diff: Estimation/Matrix/Matrix.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Estimation/Matrix/Matrix.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,94 @@
+#ifndef __DCM_MATRIX_H
+#define __DCM_MATRIX_H
+
+/** Matrix math library */
+
+#define SINGULAR_MATRIX     (1<<0)
+#define ERR1                (1<<1)
+#define ERR2                (1<<2)
+#define ERR3                (1<<3)
+
+/** Take cross product of two 3x1 vectors: v1 x v2 = vectorOut
+ * @param v1 is the first vector
+ * @param v2 is the second vector
+ * @returns vectorOut = v1 x v2
+ */
+void Vector_Cross_Product(float vectorOut[3], float v1[3], float v2[3]);
+
+/** Multiple 3x1 vector by scalar: vectorOut = vectorIn times scale2
+ * @param vectorIn the vector
+ * @param scale2 is the scalar
+ * @returns vectorOut the result
+ */
+void Vector_Scale(float vectorOut[3], float vectorIn[3], float scale2);
+
+/** TDot product of two 3x1 vectors vector1 . vector2
+ * @param vector1 is the first vector
+ * @param vector2 is the second vector
+ * @returns float result of dot product
+ */
+float Vector_Dot_Product(float vector1[3], float vector2[3]);
+
+/** Adds two 3x1 vectors: vectorOut = vectorIn1 + vectorIn2
+ * @param vectorIn1 is the first vector
+ * @param vectorIn2 is the second vector
+ * @returns vectorOut is the result of the addition
+ */
+void Vector_Add(float vectorOut[3], float vectorIn1[3], float vectorIn2[3]);
+
+/** Adds two 3x3 matrices: C = A + B
+ * @param A is the first vector
+ * @param B is the second vector
+ * @returns C is the result of the addition
+ */
+void Matrix_Add(float C[3][3], float A[3][3], float B[3][3]);
+
+/** Adds two n x m matrices: C = A + B
+ * @param A is the first vector
+ * @param B is the second vector
+ * @param n is the rows of A, B, C
+ * @param m is the columns of A, B, C
+ * @returns C is the result of the addition
+ */
+void Matrix_Add(int n, int m, float *C, float *A, float *B);
+
+void Matrix_Subtract(int n, int m, float *C, float *A, float *B);
+
+/** Multiplies two 3x3 matrices to get a third 3x3 matrix: c = ab
+ * @param a is the first vector
+ * @param b is the second vector
+ * @returns c as the result of the mutliplication
+ */
+void Matrix_Multiply(float c[3][3], float a[3][3], float b[3][3]);
+
+/** Multiplies two 3x3 matrices to get a third 3x3 matrix: c = ab
+ * @param A is the first matrix
+ * @param B is the second matrix
+ * @param n is the rows of A
+ * @param p is the columns of A and rows of B
+ * @param m is the columns of B
+ * @returns C as the result of the mutliplication
+ */
+void Matrix_Multiply(int n, int m, int p, float *C, float *A, float *B);
+
+void Matrix_Transpose(int n, int m, float *C, float *A);
+
+void Matrix_Inverse(int n, float *A);
+
+void Matrix_Inverse(int n, float *C, float *A);
+
+void Matrix_Copy(int n, int m, float *C, float *A);
+
+/** Prints out an m x m matrix
+ * @param A is the matrix to print
+ * @param name is the name to print out along with the vector
+ */
+void Matrix_print(int n, int m, float *A, const char *name);
+
+/** Prints out a 1 x 3 vector
+ * @param A is the 1 x 3 vector to print
+ * @param name is the name to print out along with the vector
+ */
+void Vector_Print(float A[3], const char *name);
+
+#endif
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