use from Ernesto Palacios
Dependents: RoboticArm DXL_SDK_Porting_Test
Fork of Matrix by
MatrixMath.h@8:1774aa06ab99, 2017-02-11 (annotated)
- Committer:
- stanley1228
- Date:
- Sat Feb 11 13:07:13 2017 +0000
- Revision:
- 8:1774aa06ab99
1.fix some temporary return
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stanley1228 | 8:1774aa06ab99 | 1 | /** |
stanley1228 | 8:1774aa06ab99 | 2 | * @brief Version 0.9 |
stanley1228 | 8:1774aa06ab99 | 3 | * @file MatrixMath.h |
stanley1228 | 8:1774aa06ab99 | 4 | * @author Ernesto Palacios |
stanley1228 | 8:1774aa06ab99 | 5 | * |
stanley1228 | 8:1774aa06ab99 | 6 | * Created on 15 de septiembre de 2011, 09:44 AM. |
stanley1228 | 8:1774aa06ab99 | 7 | * |
stanley1228 | 8:1774aa06ab99 | 8 | * Develop Under GPL v3.0 License |
stanley1228 | 8:1774aa06ab99 | 9 | * http://www.gnu.org/licenses/gpl-3.0.html |
stanley1228 | 8:1774aa06ab99 | 10 | * |
stanley1228 | 8:1774aa06ab99 | 11 | */ |
stanley1228 | 8:1774aa06ab99 | 12 | |
stanley1228 | 8:1774aa06ab99 | 13 | #ifndef MATRIXMATH_H |
stanley1228 | 8:1774aa06ab99 | 14 | #define MATRIXMATH_H |
stanley1228 | 8:1774aa06ab99 | 15 | |
stanley1228 | 8:1774aa06ab99 | 16 | //#include "mbed.h" |
stanley1228 | 8:1774aa06ab99 | 17 | #include "Matrix.h" |
stanley1228 | 8:1774aa06ab99 | 18 | |
stanley1228 | 8:1774aa06ab99 | 19 | |
stanley1228 | 8:1774aa06ab99 | 20 | /** |
stanley1228 | 8:1774aa06ab99 | 21 | * @brief This class provides STATIC methods to perform operations |
stanley1228 | 8:1774aa06ab99 | 22 | * over Matrix Objects, version 0.9. |
stanley1228 | 8:1774aa06ab99 | 23 | */ |
stanley1228 | 8:1774aa06ab99 | 24 | class MatrixMath{ |
stanley1228 | 8:1774aa06ab99 | 25 | public: |
stanley1228 | 8:1774aa06ab99 | 26 | |
stanley1228 | 8:1774aa06ab99 | 27 | |
stanley1228 | 8:1774aa06ab99 | 28 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 29 | * Transposes Matrix, return new Object. |
stanley1228 | 8:1774aa06ab99 | 30 | * @param Mat matrix to calculate |
stanley1228 | 8:1774aa06ab99 | 31 | * @return Transposed Matrix |
stanley1228 | 8:1774aa06ab99 | 32 | */ |
stanley1228 | 8:1774aa06ab99 | 33 | static Matrix Transpose( const Matrix& Mat ); |
stanley1228 | 8:1774aa06ab99 | 34 | |
stanley1228 | 8:1774aa06ab99 | 35 | |
stanley1228 | 8:1774aa06ab99 | 36 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 37 | * Calculate the inverse of a [n,n] Matrix BUT you check first if |
stanley1228 | 8:1774aa06ab99 | 38 | * the determinant is != 0, Same matrix will be return if Det( Mat ) == 0. |
stanley1228 | 8:1774aa06ab99 | 39 | * @param Mat matrix to calcute inverse. |
stanley1228 | 8:1774aa06ab99 | 40 | * @return Matrix Inverse |
stanley1228 | 8:1774aa06ab99 | 41 | */ |
stanley1228 | 8:1774aa06ab99 | 42 | static Matrix Inv( const Matrix& Mat ); |
stanley1228 | 8:1774aa06ab99 | 43 | |
stanley1228 | 8:1774aa06ab99 | 44 | |
stanley1228 | 8:1774aa06ab99 | 45 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 46 | * Creates an identity [n,n] Matrix |
stanley1228 | 8:1774aa06ab99 | 47 | * @param Rows Number of Rowns and Columns |
stanley1228 | 8:1774aa06ab99 | 48 | * @return Identity Matrix of dimensions [Rows,Rows] |
stanley1228 | 8:1774aa06ab99 | 49 | */ |
stanley1228 | 8:1774aa06ab99 | 50 | static Matrix Eye( int Rows ); |
stanley1228 | 8:1774aa06ab99 | 51 | |
stanley1228 | 8:1774aa06ab99 | 52 | |
stanley1228 | 8:1774aa06ab99 | 53 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 54 | * Returns the dot Product of any two same leght vectors. |
stanley1228 | 8:1774aa06ab99 | 55 | * In this case a vector is defined as a [1,n] or [n,1] Matrix. |
stanley1228 | 8:1774aa06ab99 | 56 | * Very Flexible Function. |
stanley1228 | 8:1774aa06ab99 | 57 | * @param leftM First Vector |
stanley1228 | 8:1774aa06ab99 | 58 | * @param rightM Second Vector |
stanley1228 | 8:1774aa06ab99 | 59 | * @return Dot Product or Scalar Product. |
stanley1228 | 8:1774aa06ab99 | 60 | */ |
stanley1228 | 8:1774aa06ab99 | 61 | static float dot( const Matrix& leftM, const Matrix& rightM ); |
stanley1228 | 8:1774aa06ab99 | 62 | |
stanley1228 | 8:1774aa06ab99 | 63 | |
stanley1228 | 8:1774aa06ab99 | 64 | /**@brief Calculates the determinant of a Matrix. |
stanley1228 | 8:1774aa06ab99 | 65 | * @param Mat matrix to calculate. |
stanley1228 | 8:1774aa06ab99 | 66 | * @return the determinant. |
stanley1228 | 8:1774aa06ab99 | 67 | */ |
stanley1228 | 8:1774aa06ab99 | 68 | static float det( const Matrix& Mat ); |
stanley1228 | 8:1774aa06ab99 | 69 | |
stanley1228 | 8:1774aa06ab99 | 70 | |
stanley1228 | 8:1774aa06ab99 | 71 | //==== For Kinematics ====// |
stanley1228 | 8:1774aa06ab99 | 72 | |
stanley1228 | 8:1774aa06ab99 | 73 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 74 | * Calculates the Rotation Matrix Transform along 'x' axis in radians. |
stanley1228 | 8:1774aa06ab99 | 75 | * @param radians rotation angle. |
stanley1228 | 8:1774aa06ab99 | 76 | * @return Rotation Matrix[4,4] along 'x' axis. |
stanley1228 | 8:1774aa06ab99 | 77 | */ |
stanley1228 | 8:1774aa06ab99 | 78 | static Matrix RotX( float radians ); |
stanley1228 | 8:1774aa06ab99 | 79 | |
stanley1228 | 8:1774aa06ab99 | 80 | |
stanley1228 | 8:1774aa06ab99 | 81 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 82 | * Calculates the Rotation Matrix Transform along 'y' axis in radians. |
stanley1228 | 8:1774aa06ab99 | 83 | * @param radians rotation angle. |
stanley1228 | 8:1774aa06ab99 | 84 | * @return Rotation Matrix[4,4] along 'y' axis. |
stanley1228 | 8:1774aa06ab99 | 85 | */ |
stanley1228 | 8:1774aa06ab99 | 86 | static Matrix RotY( float radians ); |
stanley1228 | 8:1774aa06ab99 | 87 | |
stanley1228 | 8:1774aa06ab99 | 88 | |
stanley1228 | 8:1774aa06ab99 | 89 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 90 | * Calculates the Rotation Matrix Transform along 'z' axis in radians. |
stanley1228 | 8:1774aa06ab99 | 91 | * @param radians rotation angle. |
stanley1228 | 8:1774aa06ab99 | 92 | * @return Rotation Matrix[4,4] along 'z' axis. |
stanley1228 | 8:1774aa06ab99 | 93 | */ |
stanley1228 | 8:1774aa06ab99 | 94 | static Matrix RotZ( float radians ); |
stanley1228 | 8:1774aa06ab99 | 95 | |
stanley1228 | 8:1774aa06ab99 | 96 | |
stanley1228 | 8:1774aa06ab99 | 97 | static Matrix Tz( float d ); |
stanley1228 | 8:1774aa06ab99 | 98 | |
stanley1228 | 8:1774aa06ab99 | 99 | |
stanley1228 | 8:1774aa06ab99 | 100 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 101 | * Calculates the Translation Matrix to coordenates (x' y' z'). |
stanley1228 | 8:1774aa06ab99 | 102 | * @param x axis translation |
stanley1228 | 8:1774aa06ab99 | 103 | * @param y axis translation |
stanley1228 | 8:1774aa06ab99 | 104 | * @param z axis translation |
stanley1228 | 8:1774aa06ab99 | 105 | * @return Translation Matrix[4,4] x'y'z'. |
stanley1228 | 8:1774aa06ab99 | 106 | */ |
stanley1228 | 8:1774aa06ab99 | 107 | static Matrix Transl( float x, float y, float z ); |
stanley1228 | 8:1774aa06ab99 | 108 | |
stanley1228 | 8:1774aa06ab99 | 109 | |
stanley1228 | 8:1774aa06ab99 | 110 | //cross stanley |
stanley1228 | 8:1774aa06ab99 | 111 | static Matrix cross(const Matrix& leftM,const Matrix& rightM); |
stanley1228 | 8:1774aa06ab99 | 112 | |
stanley1228 | 8:1774aa06ab99 | 113 | |
stanley1228 | 8:1774aa06ab99 | 114 | private: |
stanley1228 | 8:1774aa06ab99 | 115 | |
stanley1228 | 8:1774aa06ab99 | 116 | /**@brief |
stanley1228 | 8:1774aa06ab99 | 117 | * Calculates the Determinant of a 3x3 Matrix |
stanley1228 | 8:1774aa06ab99 | 118 | * @param Mat Already made sure is a 3 by 3 |
stanley1228 | 8:1774aa06ab99 | 119 | * @return Float, determinant. |
stanley1228 | 8:1774aa06ab99 | 120 | */ |
stanley1228 | 8:1774aa06ab99 | 121 | float Det3x3( const Matrix& Mat ); |
stanley1228 | 8:1774aa06ab99 | 122 | |
stanley1228 | 8:1774aa06ab99 | 123 | }; |
stanley1228 | 8:1774aa06ab99 | 124 | |
stanley1228 | 8:1774aa06ab99 | 125 | #endif /* MATRIXMATH_H */ |