Ernesto Palacios / MatrixMath

This class provides with operations for Matrix Objects

Dependents:   Matrix_class Wizardsneverdie mbed_multiplex_matrix Kinematics_Project_G5 ... more

MatrixMath.h@1:c74cdf14aea2, 2011-10-22 (annotated)

Committer:
Yo_Robot
Date:
Sat Oct 22 23:18:55 2011 +0000
Revision:
1:c74cdf14aea2
Parent:
0:eb69bbfb6486
Child:
2:d487bb616ec1
version 0.8 Inv() det()  defined

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 0:eb69bbfb6486 1 /**
Yo_Robot 1:c74cdf14aea2 2 * @file MatrixMath.h
Yo_Robot 1:c74cdf14aea2 3 * @author Ernesto Palacios
Yo_Robot 0:eb69bbfb6486 4 *
Yo_Robot 0:eb69bbfb6486 5 * Created on 15 de septiembre de 2011, 09:44 AM.
Yo_Robot 0:eb69bbfb6486 6 *
Yo_Robot 0:eb69bbfb6486 7 * Develop Under GPL v3.0 License
Yo_Robot 0:eb69bbfb6486 8 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 0:eb69bbfb6486 9 *
Yo_Robot 0:eb69bbfb6486 10 */
Yo_Robot 0:eb69bbfb6486 11
Yo_Robot 1:c74cdf14aea2 12 #ifndef MATRIXMATH_H
Yo_Robot 1:c74cdf14aea2 13 #define MATRIXMATH_H
Yo_Robot 0:eb69bbfb6486 14
Yo_Robot 0:eb69bbfb6486 15 #include "mbed.h"
Yo_Robot 0:eb69bbfb6486 16 #include "Matrix.h"
Yo_Robot 0:eb69bbfb6486 17
Yo_Robot 0:eb69bbfb6486 18
Yo_Robot 0:eb69bbfb6486 19 /**
Yo_Robot 0:eb69bbfb6486 20 * @brief This class provides STATIC methods to preform operations over
Yo_Robot 1:c74cdf14aea2 21 * Matrix Objects
Yo_Robot 1:c74cdf14aea2 22 * version 0.8.
Yo_Robot 0:eb69bbfb6486 23 *
Yo_Robot 0:eb69bbfb6486 24 * Methods will be added as neccesary.
Yo_Robot 0:eb69bbfb6486 25 *
Yo_Robot 0:eb69bbfb6486 26 */
Yo_Robot 0:eb69bbfb6486 27 class MatrixMath{
Yo_Robot 0:eb69bbfb6486 28 public:
Yo_Robot 0:eb69bbfb6486 29
Yo_Robot 1:c74cdf14aea2 30
Yo_Robot 1:c74cdf14aea2 31 /**@brief
Yo_Robot 1:c74cdf14aea2 32 * Transposes Matrix, return new Object.
Yo_Robot 1:c74cdf14aea2 33 * @param Mat matrix to calculate
Yo_Robot 1:c74cdf14aea2 34 * @return the determinant
Yo_Robot 1:c74cdf14aea2 35 */
Yo_Robot 1:c74cdf14aea2 36 static Matrix Transpose( const Matrix& Mat );
Yo_Robot 1:c74cdf14aea2 37
Yo_Robot 1:c74cdf14aea2 38
Yo_Robot 1:c74cdf14aea2 39 /**@brief
Yo_Robot 1:c74cdf14aea2 40 * Calculate the inverse of a nxn Matrix BUT check first if the determinant
Yo_Robot 1:c74cdf14aea2 41 * is != 0. Same matrix will be return if Det( Mat ) == 0.
Yo_Robot 1:c74cdf14aea2 42 * @param Mat matrix to calcute inverse.
Yo_Robot 1:c74cdf14aea2 43 * @return Matrix Inverse
Yo_Robot 1:c74cdf14aea2 44 */
Yo_Robot 1:c74cdf14aea2 45 static Matrix Inv( const Matrix& Mat );
Yo_Robot 1:c74cdf14aea2 46
Yo_Robot 0:eb69bbfb6486 47
Yo_Robot 1:c74cdf14aea2 48 static float dotProduct( const Matrix& leftM, const Matrix& rightM );
Yo_Robot 1:c74cdf14aea2 49
Yo_Robot 1:c74cdf14aea2 50 /**@brief Calculates the determinant of a Matrix.
Yo_Robot 1:c74cdf14aea2 51 * @param Mat matrix to calculate.
Yo_Robot 1:c74cdf14aea2 52 * @return the determinant.
Yo_Robot 1:c74cdf14aea2 53 */
Yo_Robot 1:c74cdf14aea2 54 static float det( const Matrix& Mat );
Yo_Robot 1:c74cdf14aea2 55
Yo_Robot 1:c74cdf14aea2 56
Yo_Robot 1:c74cdf14aea2 57 //** For Kinematics **//
Yo_Robot 0:eb69bbfb6486 58
Yo_Robot 0:eb69bbfb6486 59 static Matrix RotX( const Matrix& matrix, float radians );
Yo_Robot 0:eb69bbfb6486 60
Yo_Robot 0:eb69bbfb6486 61 static Matrix RotY( const Matrix& matrix, float radians );
Yo_Robot 0:eb69bbfb6486 62
Yo_Robot 0:eb69bbfb6486 63 static Matrix RotZ( const Matrix& matrix, float radians );
Yo_Robot 0:eb69bbfb6486 64
Yo_Robot 0:eb69bbfb6486 65 static Matrix Transl( const Matrix& matrix, float x, float y, float z );
Yo_Robot 0:eb69bbfb6486 66
Yo_Robot 1:c74cdf14aea2 67 private:
Yo_Robot 1:c74cdf14aea2 68
Yo_Robot 1:c74cdf14aea2 69 /**@brief
Yo_Robot 1:c74cdf14aea2 70 * Calculates the Determinant of a 3x3 Matrix
Yo_Robot 1:c74cdf14aea2 71 * @param Mat Already made sure is a 3 by 3
Yo_Robot 1:c74cdf14aea2 72 * @return Float, determinant.
Yo_Robot 1:c74cdf14aea2 73 */
Yo_Robot 1:c74cdf14aea2 74 float Det3x3( const Matrix& Mat );
Yo_Robot 1:c74cdf14aea2 75
Yo_Robot 0:eb69bbfb6486 76 };
Yo_Robot 0:eb69bbfb6486 77
Yo_Robot 1:c74cdf14aea2 78 #endif /* MATRIXMATH_H */