Tami Farber / microbit-dal

Revised to disable BLE for radio communication as needed.

Dependencies:   BLE_API nRF51822 mbed-dev-bin

Dependents:   microbit

inc/types/Matrix4.h@74:26717338739d, 2019-11-26 (annotated)

Committer:
tsfarber
Date:
Tue Nov 26 04:12:46 2019 +0000
Revision:
74:26717338739d
Parent:
1:8aa5cdb4ab67 
This program combines samples programs radio TX and radio RX so that both units can send or receive depending on which unit's buttons are pressed. Tested successfully. MicroBitConfig.h has been edited to disable BLE.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan Austin 1:8aa5cdb4ab67 1 /*
Jonathan Austin 1:8aa5cdb4ab67 2 The MIT License (MIT)
Jonathan Austin 1:8aa5cdb4ab67 3
Jonathan Austin 1:8aa5cdb4ab67 4 Copyright (c) 2016 British Broadcasting Corporation.
Jonathan Austin 1:8aa5cdb4ab67 5 This software is provided by Lancaster University by arrangement with the BBC.
Jonathan Austin 1:8aa5cdb4ab67 6
Jonathan Austin 1:8aa5cdb4ab67 7 Permission is hereby granted, free of charge, to any person obtaining a
Jonathan Austin 1:8aa5cdb4ab67 8 copy of this software and associated documentation files (the "Software"),
Jonathan Austin 1:8aa5cdb4ab67 9 to deal in the Software without restriction, including without limitation
Jonathan Austin 1:8aa5cdb4ab67 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
Jonathan Austin 1:8aa5cdb4ab67 11 and/or sell copies of the Software, and to permit persons to whom the
Jonathan Austin 1:8aa5cdb4ab67 12 Software is furnished to do so, subject to the following conditions:
Jonathan Austin 1:8aa5cdb4ab67 13
Jonathan Austin 1:8aa5cdb4ab67 14 The above copyright notice and this permission notice shall be included in
Jonathan Austin 1:8aa5cdb4ab67 15 all copies or substantial portions of the Software.
Jonathan Austin 1:8aa5cdb4ab67 16
Jonathan Austin 1:8aa5cdb4ab67 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jonathan Austin 1:8aa5cdb4ab67 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jonathan Austin 1:8aa5cdb4ab67 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
Jonathan Austin 1:8aa5cdb4ab67 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
Jonathan Austin 1:8aa5cdb4ab67 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 23 DEALINGS IN THE SOFTWARE.
Jonathan Austin 1:8aa5cdb4ab67 24 */
Jonathan Austin 1:8aa5cdb4ab67 25
Jonathan Austin 1:8aa5cdb4ab67 26 #ifndef MICROBIT_MATRIX4_H
Jonathan Austin 1:8aa5cdb4ab67 27 #define MICROBIT_MATRIX4_H
Jonathan Austin 1:8aa5cdb4ab67 28
Jonathan Austin 1:8aa5cdb4ab67 29 #include "MicroBitConfig.h"
Jonathan Austin 1:8aa5cdb4ab67 30
Jonathan Austin 1:8aa5cdb4ab67 31 /**
Jonathan Austin 1:8aa5cdb4ab67 32 * Class definition for a simple matrix, that is optimised for nx4 or 4xn matrices.
Jonathan Austin 1:8aa5cdb4ab67 33 *
Jonathan Austin 1:8aa5cdb4ab67 34 * This class is heavily optimised for these commonly used matrices as used in 3D geometry.
Jonathan Austin 1:8aa5cdb4ab67 35 * Whilst this class does support basic operations on matrices of any dimension, it is not intended as a
Jonathan Austin 1:8aa5cdb4ab67 36 * general purpose matrix class as inversion operations are only provided for 4x4 matrices.
Jonathan Austin 1:8aa5cdb4ab67 37 * For programmers needing more flexible Matrix support, the Matrix and MatrixMath classes from
Jonathan Austin 1:8aa5cdb4ab67 38 * Ernsesto Palacios provide a good basis:
Jonathan Austin 1:8aa5cdb4ab67 39 *
Jonathan Austin 1:8aa5cdb4ab67 40 * https://developer.mbed.org/cookbook/MatrixClass
Jonathan Austin 1:8aa5cdb4ab67 41 * https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/
Jonathan Austin 1:8aa5cdb4ab67 42 */
Jonathan Austin 1:8aa5cdb4ab67 43 class Matrix4
Jonathan Austin 1:8aa5cdb4ab67 44 {
Jonathan Austin 1:8aa5cdb4ab67 45 float *data; // Linear buffer representing the matrix.
Jonathan Austin 1:8aa5cdb4ab67 46 int rows; // The number of rows in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 47 int cols; // The number of columns in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 48
Jonathan Austin 1:8aa5cdb4ab67 49 public:
Jonathan Austin 1:8aa5cdb4ab67 50
Jonathan Austin 1:8aa5cdb4ab67 51 /**
Jonathan Austin 1:8aa5cdb4ab67 52 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 53 * Create a matrix of the given size.
Jonathan Austin 1:8aa5cdb4ab67 54 *
Jonathan Austin 1:8aa5cdb4ab67 55 * @param rows the number of rows in the matrix to be created.
Jonathan Austin 1:8aa5cdb4ab67 56 *
Jonathan Austin 1:8aa5cdb4ab67 57 * @param cols the number of columns in the matrix to be created.
Jonathan Austin 1:8aa5cdb4ab67 58 *
Jonathan Austin 1:8aa5cdb4ab67 59 * @code
Jonathan Austin 1:8aa5cdb4ab67 60 * Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns.
Jonathan Austin 1:8aa5cdb4ab67 61 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 62 */
Jonathan Austin 1:8aa5cdb4ab67 63 Matrix4(int rows, int cols);
Jonathan Austin 1:8aa5cdb4ab67 64
Jonathan Austin 1:8aa5cdb4ab67 65 /**
Jonathan Austin 1:8aa5cdb4ab67 66 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 67 * Create a matrix that is an identical copy of the given matrix.
Jonathan Austin 1:8aa5cdb4ab67 68 *
Jonathan Austin 1:8aa5cdb4ab67 69 * @param matrix The matrix to copy.
Jonathan Austin 1:8aa5cdb4ab67 70 *
Jonathan Austin 1:8aa5cdb4ab67 71 * @code
Jonathan Austin 1:8aa5cdb4ab67 72 * Matrix newMatrix(matrix); .
Jonathan Austin 1:8aa5cdb4ab67 73 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 74 */
Jonathan Austin 1:8aa5cdb4ab67 75 Matrix4(const Matrix4 &matrix);
Jonathan Austin 1:8aa5cdb4ab67 76
Jonathan Austin 1:8aa5cdb4ab67 77 /**
Jonathan Austin 1:8aa5cdb4ab67 78 * Determines the number of columns in this matrix.
Jonathan Austin 1:8aa5cdb4ab67 79 *
Jonathan Austin 1:8aa5cdb4ab67 80 * @return The number of columns in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 81 *
Jonathan Austin 1:8aa5cdb4ab67 82 * @code
Jonathan Austin 1:8aa5cdb4ab67 83 * int c = matrix.width();
Jonathan Austin 1:8aa5cdb4ab67 84 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 85 */
Jonathan Austin 1:8aa5cdb4ab67 86 int width();
Jonathan Austin 1:8aa5cdb4ab67 87
Jonathan Austin 1:8aa5cdb4ab67 88 /**
Jonathan Austin 1:8aa5cdb4ab67 89 * Determines the number of rows in this matrix.
Jonathan Austin 1:8aa5cdb4ab67 90 *
Jonathan Austin 1:8aa5cdb4ab67 91 * @return The number of rows in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 92 *
Jonathan Austin 1:8aa5cdb4ab67 93 * @code
Jonathan Austin 1:8aa5cdb4ab67 94 * int r = matrix.height();
Jonathan Austin 1:8aa5cdb4ab67 95 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 96 */
Jonathan Austin 1:8aa5cdb4ab67 97 int height();
Jonathan Austin 1:8aa5cdb4ab67 98
Jonathan Austin 1:8aa5cdb4ab67 99 /**
Jonathan Austin 1:8aa5cdb4ab67 100 * Reads the matrix element at the given position.
Jonathan Austin 1:8aa5cdb4ab67 101 *
Jonathan Austin 1:8aa5cdb4ab67 102 * @param row The row of the element to read.
Jonathan Austin 1:8aa5cdb4ab67 103 *
Jonathan Austin 1:8aa5cdb4ab67 104 * @param col The column of the element to read.
Jonathan Austin 1:8aa5cdb4ab67 105 *
Jonathan Austin 1:8aa5cdb4ab67 106 * @return The value of the matrix element at the given position. 0 is returned if the given index is out of range.
Jonathan Austin 1:8aa5cdb4ab67 107 *
Jonathan Austin 1:8aa5cdb4ab67 108 * @code
Jonathan Austin 1:8aa5cdb4ab67 109 * float v = matrix.get(1,2);
Jonathan Austin 1:8aa5cdb4ab67 110 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 111 */
Jonathan Austin 1:8aa5cdb4ab67 112 float get(int row, int col);
Jonathan Austin 1:8aa5cdb4ab67 113
Jonathan Austin 1:8aa5cdb4ab67 114 /**
Jonathan Austin 1:8aa5cdb4ab67 115 * Writes the matrix element at the given position.
Jonathan Austin 1:8aa5cdb4ab67 116 *
Jonathan Austin 1:8aa5cdb4ab67 117 * @param row The row of the element to write.
Jonathan Austin 1:8aa5cdb4ab67 118 *
Jonathan Austin 1:8aa5cdb4ab67 119 * @param col The column of the element to write.
Jonathan Austin 1:8aa5cdb4ab67 120 *
Jonathan Austin 1:8aa5cdb4ab67 121 * @param v The new value of the element.
Jonathan Austin 1:8aa5cdb4ab67 122 *
Jonathan Austin 1:8aa5cdb4ab67 123 * @code
Jonathan Austin 1:8aa5cdb4ab67 124 * matrix.set(1,2,42.0);
Jonathan Austin 1:8aa5cdb4ab67 125 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 126 */
Jonathan Austin 1:8aa5cdb4ab67 127 void set(int row, int col, float v);
Jonathan Austin 1:8aa5cdb4ab67 128
Jonathan Austin 1:8aa5cdb4ab67 129 /**
Jonathan Austin 1:8aa5cdb4ab67 130 * Transposes this matrix.
Jonathan Austin 1:8aa5cdb4ab67 131 *
Jonathan Austin 1:8aa5cdb4ab67 132 * @return the resultant matrix.
Jonathan Austin 1:8aa5cdb4ab67 133 *
Jonathan Austin 1:8aa5cdb4ab67 134 * @code
Jonathan Austin 1:8aa5cdb4ab67 135 * matrix.transpose();
Jonathan Austin 1:8aa5cdb4ab67 136 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 137 */
Jonathan Austin 1:8aa5cdb4ab67 138 Matrix4 transpose();
Jonathan Austin 1:8aa5cdb4ab67 139
Jonathan Austin 1:8aa5cdb4ab67 140 /**
Jonathan Austin 1:8aa5cdb4ab67 141 * Multiplies this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 142 *
Jonathan Austin 1:8aa5cdb4ab67 143 * @param matrix the matrix to multiply this matrix's values against.
Jonathan Austin 1:8aa5cdb4ab67 144 *
Jonathan Austin 1:8aa5cdb4ab67 145 * @param transpose Transpose the matrices before multiplication. Defaults to false.
Jonathan Austin 1:8aa5cdb4ab67 146 *
Jonathan Austin 1:8aa5cdb4ab67 147 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 148 *
Jonathan Austin 1:8aa5cdb4ab67 149 * @code
Jonathan Austin 1:8aa5cdb4ab67 150 * Matrix result = matrixA.multiply(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 151 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 152 */
Jonathan Austin 1:8aa5cdb4ab67 153 Matrix4 multiply(Matrix4 &matrix, bool transpose = false);
Jonathan Austin 1:8aa5cdb4ab67 154
Jonathan Austin 1:8aa5cdb4ab67 155 /**
Jonathan Austin 1:8aa5cdb4ab67 156 * Multiplies the transpose of this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 157 *
Jonathan Austin 1:8aa5cdb4ab67 158 * @param matrix the matrix to multiply this matrix's values against.
Jonathan Austin 1:8aa5cdb4ab67 159 *
Jonathan Austin 1:8aa5cdb4ab67 160 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 161 *
Jonathan Austin 1:8aa5cdb4ab67 162 * @code
Jonathan Austin 1:8aa5cdb4ab67 163 * Matrix result = matrixA.multiplyT(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 164 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 165 */
Jonathan Austin 1:8aa5cdb4ab67 166 Matrix4 multiplyT(Matrix4 &matrix);
Jonathan Austin 1:8aa5cdb4ab67 167
Jonathan Austin 1:8aa5cdb4ab67 168 /**
Jonathan Austin 1:8aa5cdb4ab67 169 * Performs an optimised inversion of a 4x4 matrix.
Jonathan Austin 1:8aa5cdb4ab67 170 * Only 4x4 matrices are supported by this operation.
Jonathan Austin 1:8aa5cdb4ab67 171 *
Jonathan Austin 1:8aa5cdb4ab67 172 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 173 *
Jonathan Austin 1:8aa5cdb4ab67 174 * @code
Jonathan Austin 1:8aa5cdb4ab67 175 * Matrix result = matrixA.invert();
Jonathan Austin 1:8aa5cdb4ab67 176 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 177 */
Jonathan Austin 1:8aa5cdb4ab67 178 Matrix4 invert();
Jonathan Austin 1:8aa5cdb4ab67 179
Jonathan Austin 1:8aa5cdb4ab67 180 /**
Jonathan Austin 1:8aa5cdb4ab67 181 * Destructor.
Jonathan Austin 1:8aa5cdb4ab67 182 *
Jonathan Austin 1:8aa5cdb4ab67 183 * Frees any memory consumed by this Matrix4 instance.
Jonathan Austin 1:8aa5cdb4ab67 184 */
Jonathan Austin 1:8aa5cdb4ab67 185 ~Matrix4();
Jonathan Austin 1:8aa5cdb4ab67 186 };
Jonathan Austin 1:8aa5cdb4ab67 187
Jonathan Austin 1:8aa5cdb4ab67 188 /**
Jonathan Austin 1:8aa5cdb4ab67 189 * Multiplies the transpose of this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 190 *
Jonathan Austin 1:8aa5cdb4ab67 191 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 192 *
Jonathan Austin 1:8aa5cdb4ab67 193 * @code
Jonathan Austin 1:8aa5cdb4ab67 194 * Matrix result = matrixA.multiplyT(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 195 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 196 */
Jonathan Austin 1:8aa5cdb4ab67 197 inline Matrix4 Matrix4::multiplyT(Matrix4 &matrix)
Jonathan Austin 1:8aa5cdb4ab67 198 {
Jonathan Austin 1:8aa5cdb4ab67 199 return multiply(matrix, true);
Jonathan Austin 1:8aa5cdb4ab67 200 }
Jonathan Austin 1:8aa5cdb4ab67 201
Jonathan Austin 1:8aa5cdb4ab67 202 #endif