Diff: MatrixMath.h

Revision:

8:1774aa06ab99

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MatrixMath.h	Sat Feb 11 13:07:13 2017 +0000
@@ -0,0 +1,125 @@
+/**
+ * @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
+ *
+ */
+
+#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.
+ */
+class MatrixMath{
+public:
+
+
+    /**@brief
+     * Transposes Matrix, return new Object.
+     * @param Mat matrix to calculate
+     * @return Transposed Matrix
+     */
+    static Matrix Transpose( const Matrix& Mat );
+
+
+    /**@brief
+     * 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
+     */
+    static Matrix Inv( const Matrix& Mat );
+
+
+    /**@brief
+     * Creates an identity [n,n] Matrix
+     * @param Rows Number of Rowns and Columns
+     * @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] 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.
+     * @return the determinant.
+     */
+    static float det( const Matrix& Mat );
+
+
+    //====  For Kinematics ====//
+
+    /**@brief
+     * Calculates the Rotation Matrix Transform along 'x' axis in radians.
+     * @param radians rotation angle.
+     * @return Rotation Matrix[4,4] along 'x' axis.
+     */
+    static Matrix RotX( float radians );
+
+
+    /**@brief
+     * Calculates the Rotation Matrix Transform along 'y' axis in radians.
+     * @param radians rotation angle.
+     * @return Rotation Matrix[4,4] along 'y' axis.
+     */
+    static Matrix RotY( float radians );
+
+
+    /**@brief
+     * Calculates the Rotation Matrix Transform along 'z' axis in radians.
+     * @param radians rotation angle.
+     * @return Rotation Matrix[4,4] along 'z' axis.
+     */
+    static Matrix RotZ( float radians );
+
+
+    static Matrix Tz( float d );
+
+
+    /**@brief
+     * Calculates the Translation Matrix to coordenates (x' y' z').
+     * @param x axis translation
+     * @param y axis translation
+     * @param z axis translation
+     * @return Translation Matrix[4,4] x'y'z'.
+     */
+    static Matrix Transl( float x, float y, float z );
+
+
+    //cross stanley
+    static Matrix cross(const Matrix& leftM,const Matrix& rightM);
+
+
+private:
+
+    /**@brief
+     * Calculates the Determinant of a 3x3 Matrix
+     * @param Mat Already made sure is a 3 by 3
+     * @return Float, determinant.
+     */
+    float Det3x3( const Matrix& Mat );
+
+};
+
+#endif    /* MATRIXMATH_H */