disabled BLE to use radio
Dependencies: BLE_API nRF51822 mbed-dev-bin
Diff: inc/types/Matrix4.h
- Revision:
- 1:8aa5cdb4ab67
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/inc/types/Matrix4.h Thu Apr 07 01:33:22 2016 +0100 @@ -0,0 +1,202 @@ +/* +The MIT License (MIT) + +Copyright (c) 2016 British Broadcasting Corporation. +This software is provided by Lancaster University by arrangement with the BBC. + +Permission is hereby granted, free of charge, to any person obtaining a +copy of this software and associated documentation files (the "Software"), +to deal in the Software without restriction, including without limitation +the rights to use, copy, modify, merge, publish, distribute, sublicense, +and/or sell copies of the Software, and to permit persons to whom the +Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +DEALINGS IN THE SOFTWARE. +*/ + +#ifndef MICROBIT_MATRIX4_H +#define MICROBIT_MATRIX4_H + +#include "MicroBitConfig.h" + +/** +* Class definition for a simple matrix, that is optimised for nx4 or 4xn matrices. +* +* This class is heavily optimised for these commonly used matrices as used in 3D geometry. +* Whilst this class does support basic operations on matrices of any dimension, it is not intended as a +* general purpose matrix class as inversion operations are only provided for 4x4 matrices. +* For programmers needing more flexible Matrix support, the Matrix and MatrixMath classes from +* Ernsesto Palacios provide a good basis: +* +* https://developer.mbed.org/cookbook/MatrixClass +* https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/ +*/ +class Matrix4 +{ + float *data; // Linear buffer representing the matrix. + int rows; // The number of rows in the matrix. + int cols; // The number of columns in the matrix. + +public: + + /** + * Constructor. + * Create a matrix of the given size. + * + * @param rows the number of rows in the matrix to be created. + * + * @param cols the number of columns in the matrix to be created. + * + * @code + * Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns. + * @endcode + */ + Matrix4(int rows, int cols); + + /** + * Constructor. + * Create a matrix that is an identical copy of the given matrix. + * + * @param matrix The matrix to copy. + * + * @code + * Matrix newMatrix(matrix); . + * @endcode + */ + Matrix4(const Matrix4 &matrix); + + /** + * Determines the number of columns in this matrix. + * + * @return The number of columns in the matrix. + * + * @code + * int c = matrix.width(); + * @endcode + */ + int width(); + + /** + * Determines the number of rows in this matrix. + * + * @return The number of rows in the matrix. + * + * @code + * int r = matrix.height(); + * @endcode + */ + int height(); + + /** + * Reads the matrix element at the given position. + * + * @param row The row of the element to read. + * + * @param col The column of the element to read. + * + * @return The value of the matrix element at the given position. 0 is returned if the given index is out of range. + * + * @code + * float v = matrix.get(1,2); + * @endcode + */ + float get(int row, int col); + + /** + * Writes the matrix element at the given position. + * + * @param row The row of the element to write. + * + * @param col The column of the element to write. + * + * @param v The new value of the element. + * + * @code + * matrix.set(1,2,42.0); + * @endcode + */ + void set(int row, int col, float v); + + /** + * Transposes this matrix. + * + * @return the resultant matrix. + * + * @code + * matrix.transpose(); + * @endcode + */ + Matrix4 transpose(); + + /** + * Multiplies this matrix with the given matrix (if possible). + * + * @param matrix the matrix to multiply this matrix's values against. + * + * @param transpose Transpose the matrices before multiplication. Defaults to false. + * + * @return the resultant matrix. An empty matrix is returned if the operation canot be completed. + * + * @code + * Matrix result = matrixA.multiply(matrixB); + * @endcode + */ + Matrix4 multiply(Matrix4 &matrix, bool transpose = false); + + /** + * Multiplies the transpose of this matrix with the given matrix (if possible). + * + * @param matrix the matrix to multiply this matrix's values against. + * + * @return the resultant matrix. An empty matrix is returned if the operation canot be completed. + * + * @code + * Matrix result = matrixA.multiplyT(matrixB); + * @endcode + */ + Matrix4 multiplyT(Matrix4 &matrix); + + /** + * Performs an optimised inversion of a 4x4 matrix. + * Only 4x4 matrices are supported by this operation. + * + * @return the resultant matrix. An empty matrix is returned if the operation canot be completed. + * + * @code + * Matrix result = matrixA.invert(); + * @endcode + */ + Matrix4 invert(); + + /** + * Destructor. + * + * Frees any memory consumed by this Matrix4 instance. + */ + ~Matrix4(); +}; + +/** + * Multiplies the transpose of this matrix with the given matrix (if possible). + * + * @return the resultant matrix. An empty matrix is returned if the operation canot be completed. + * + * @code + * Matrix result = matrixA.multiplyT(matrixB); + * @endcode + */ +inline Matrix4 Matrix4::multiplyT(Matrix4 &matrix) +{ + return multiply(matrix, true); +} + +#endif