/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Will Perone <will.perone@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
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/**
* @file Matrix3.hpp
*
* 3x3 Matrix
*/
#ifndef MATRIX3_HPP
#define MATRIX3_HPP
#include "Vector3.hpp"
#include "../CMSIS/Include/arm_math.h"
namespace math
{
// 3x3 matrix with elements of type T
template <typename T>
class Matrix3 {
public:
/**
* matrix data[row][col]
*/
T data[3][3];
/**
* struct for using arm_math functions
*/
arm_matrix_instance_f32 arm_mat;
/**
* trivial ctor
* note that this ctor will not initialize elements
*/
Matrix3<T>() {
arm_mat = {3, 3, &data[0][0]};
}
/**
* setting ctor
*/
Matrix3<T>(const T d[3][3]) {
arm_mat = {3, 3, &data[0][0]};
memcpy(data, d, sizeof(data));
}
/**
* setting ctor
*/
Matrix3<T>(const T ax, const T ay, const T az, const T bx, const T by, const T bz, const T cx, const T cy, const T cz) {
arm_mat = {3, 3, &data[0][0]};
data[0][0] = ax;
data[0][1] = ay;
data[0][2] = az;
data[1][0] = bx;
data[1][1] = by;
data[1][2] = bz;
data[2][0] = cx;
data[2][1] = cy;
data[2][2] = cz;
}
/**
* casting from a vector3f to a matrix is the tilde operator
*/
Matrix3<T>(const Vector3<T> &v) {
arm_mat = {3, 3, &data[0][0]};
data[0][0] = 0;
data[0][1] = -v.z;
data[0][2] = v.y;
data[1][0] = v.z;
data[1][1] = 0;
data[1][2] = -v.x;
data[2][0] = -v.y;
data[2][1] = v.x;
data[2][2] = 0;
}
/**
* access by index
*/
inline T &operator ()(unsigned int row, unsigned int col) {
return data[row][col];
}
/**
* access to elements by index
*/
inline const T &operator ()(unsigned int row, unsigned int col) const {
return data[row][col];
}
/**
* set to value
*/
const Matrix3<T> &operator =(const Matrix3<T> &m) {
memcpy(data, m.data, sizeof(data));
return *this;
}
/**
* test for equality
*/
bool operator ==(const Matrix3<T> &m) {
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
if (data[i][j] != m(i, j))
return false;
return true;
}
/**
* test for inequality
*/
bool operator !=(const Matrix3<T> &m) {
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
if (data[i][j] != m(i, j))
return true;
return false;
}
/**
* negation
*/
Matrix3<T> operator -(void) const {
Matrix3<T> res;
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
res[i][j] = -data[i][j];
return res;
}
/**
* addition
*/
Matrix3<T> operator +(const Matrix3<T> &m) const {
Matrix3<T> res;
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
res[i][j] = data[i][j] + m(i, j);
return res;
}
Matrix3<T> &operator +=(const Matrix3<T> &m) {
return *this = *this + m;
}
/**
* subtraction
*/
Matrix3<T> operator -(const Matrix3<T> &m) const {
Matrix3<T> res;
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
res[i][j] = data[i][j] - m(i, j);
return res;
}
Matrix3<T> &operator -=(const Matrix3<T> &m) {
return *this = *this - m;
}
/**
* uniform scaling
*/
Matrix3<T> operator *(const T num) const {
Matrix3<T> res;
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
res[i][j] = data[i][j] * num;
return res;
}
Matrix3<T> &operator *=(const T num) {
return *this = *this * num;
}
Matrix3<T> operator /(const T num) const {
Matrix3<T> res;
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
res[i][j] = data[i][j] / num;
return res;
}
Matrix3<T> &operator /=(const T num) {
return *this = *this / num;
}
/**
* multiplication by a vector
*/
Vector3<T> operator *(const Vector3<T> &v) const {
return Vector3<T>(
data[0][0] * v.x + data[0][1] * v.y + data[0][2] * v.z,
data[1][0] * v.x + data[1][1] * v.y + data[1][2] * v.z,
data[2][0] * v.x + data[2][1] * v.y + data[2][2] * v.z);
}
/**
* multiplication of transpose by a vector
*/
Vector3<T> mul_transpose(const Vector3<T> &v) const {
return Vector3<T>(
data[0][0] * v.x + data[1][0] * v.y + data[2][0] * v.z,
data[0][1] * v.x + data[1][1] * v.y + data[2][1] * v.z,
data[0][2] * v.x + data[1][2] * v.y + data[2][2] * v.z);
}
/**
* multiplication by another matrix
*/
Matrix3<T> operator *(const Matrix3<T> &m) const {
#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
Matrix3<T> res;
arm_mat_mult_f32(&arm_mat, &m.arm_mat, &res.arm_mat);
return res;
#else
return Matrix3<T>(data[0][0] * m(0, 0) + data[0][1] * m(1, 0) + data[0][2] * m(2, 0),
data[0][0] * m(0, 1) + data[0][1] * m(1, 1) + data[0][2] * m(2, 1),
data[0][0] * m(0, 2) + data[0][1] * m(1, 2) + data[0][2] * m(2, 2),
data[1][0] * m(0, 0) + data[1][1] * m(1, 0) + data[1][2] * m(2, 0),
data[1][0] * m(0, 1) + data[1][1] * m(1, 1) + data[1][2] * m(2, 1),
data[1][0] * m(0, 2) + data[1][1] * m(1, 2) + data[1][2] * m(2, 2),
data[2][0] * m(0, 0) + data[2][1] * m(1, 0) + data[2][2] * m(2, 0),
data[2][0] * m(0, 1) + data[2][1] * m(1, 1) + data[2][2] * m(2, 1),
data[2][0] * m(0, 2) + data[2][1] * m(1, 2) + data[2][2] * m(2, 2));
#endif
}
Matrix3<T> &operator *=(const Matrix3<T> &m) {
return *this = *this * m;
}
/**
* transpose the matrix
*/
Matrix3<T> transposed(void) const {
#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU) && T == float
Matrix3<T> res;
arm_mat_trans_f32(&arm_mat, &res.arm_mat);
return res;
#else
return Matrix3<T>(data[0][0], data[1][0], data[2][0],
data[0][1], data[1][1], data[2][1],
data[0][2], data[1][2], data[2][2]);
#endif
}
/**
* inverse the matrix
*/
Matrix3<T> inversed(void) const {
Matrix3<T> res;
arm_mat_inverse_f32(&arm_mat, &res.arm_mat);
return res;
}
/**
* zero the matrix
*/
void zero(void) {
memset(data, 0, sizeof(data));
}
/**
* setup the identity matrix
*/
void identity(void) {
memset(data, 0, sizeof(data));
data[0][0] = 1;
data[1][1] = 1;
data[2][2] = 1;
}
/**
* check if any elements are NAN
*/
bool is_nan(void) {
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
if (isnan(data[i][j]))
return true;
return false;
}
/**
* create a rotation matrix from given euler angles
* based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
*/
void from_euler(T roll, T pitch, T yaw) {
T cp = (T)cosf(pitch);
T sp = (T)sinf(pitch);
T sr = (T)sinf(roll);
T cr = (T)cosf(roll);
T sy = (T)sinf(yaw);
T cy = (T)cosf(yaw);
data[0][0] = cp * cy;
data[0][1] = (sr * sp * cy) - (cr * sy);
data[0][2] = (cr * sp * cy) + (sr * sy);
data[1][0] = cp * sy;
data[1][1] = (sr * sp * sy) + (cr * cy);
data[1][2] = (cr * sp * sy) - (sr * cy);
data[2][0] = -sp;
data[2][1] = sr * cp;
data[2][2] = cr * cp;
}
// create eulers from a rotation matrix
//void to_euler(float *roll, float *pitch, float *yaw);
// apply an additional rotation from a body frame gyro vector
// to a rotation matrix.
//void rotate(const Vector3<T> &g);
};
typedef Matrix3<float> Matrix3f;
}
#endif // MATRIX3_HPP
