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/**
* @file Matrix.h
*
* matrix code
*/
#pragma once
#include <inttypes.h>
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include "../Vector.hpp"
#include "../Matrix.hpp"
// arm specific
#include "../../CMSIS/Include/arm_math.h"
namespace math
{
class __EXPORT Matrix
{
public:
// constructor
Matrix(size_t rows, size_t cols) :
_matrix() {
arm_mat_init_f32(&_matrix,
rows, cols,
(float *)calloc(rows * cols, sizeof(float)));
}
Matrix(size_t rows, size_t cols, const float *data) :
_matrix() {
arm_mat_init_f32(&_matrix,
rows, cols,
(float *)malloc(rows * cols * sizeof(float)));
memcpy(getData(), data, getSize());
}
// deconstructor
virtual ~Matrix() {
delete [] _matrix.pData;
}
// copy constructor (deep)
Matrix(const Matrix &right) :
_matrix() {
arm_mat_init_f32(&_matrix,
right.getRows(), right.getCols(),
(float *)malloc(right.getRows()*
right.getCols()*sizeof(float)));
memcpy(getData(), right.getData(),
getSize());
}
// assignment
inline Matrix &operator=(const Matrix &right) {
#ifdef MATRIX_ASSERT
ASSERT(getRows() == right.getRows());
ASSERT(getCols() == right.getCols());
#endif
if (this != &right) {
memcpy(getData(), right.getData(),
right.getSize());
}
return *this;
}
// element accessors
inline float &operator()(size_t i, size_t j) {
#ifdef MATRIX_ASSERT
ASSERT(i < getRows());
ASSERT(j < getCols());
#endif
return getData()[i * getCols() + j];
}
inline const float &operator()(size_t i, size_t j) const {
#ifdef MATRIX_ASSERT
ASSERT(i < getRows());
ASSERT(j < getCols());
#endif
return getData()[i * getCols() + j];
}
// output
inline void print() const {
for (size_t i = 0; i < getRows(); i++) {
for (size_t j = 0; j < getCols(); j++) {
float sig;
int exp;
float num = (*this)(i, j);
float2SigExp(num, sig, exp);
printf("%6.3fe%03.3d,", (double)sig, exp);
}
printf("\n");
}
}
// boolean ops
inline bool operator==(const Matrix &right) const {
for (size_t i = 0; i < getRows(); i++) {
for (size_t j = 0; j < getCols(); j++) {
if (fabsf((*this)(i, j) - right(i, j)) > 1e-30f)
return false;
}
}
return true;
}
// scalar ops
inline Matrix operator+(float right) const {
Matrix result(getRows(), getCols());
arm_offset_f32((float *)getData(), right,
(float *)result.getData(), getRows()*getCols());
return result;
}
inline Matrix operator-(float right) const {
Matrix result(getRows(), getCols());
arm_offset_f32((float *)getData(), -right,
(float *)result.getData(), getRows()*getCols());
return result;
}
inline Matrix operator*(float right) const {
Matrix result(getRows(), getCols());
arm_mat_scale_f32(&_matrix, right,
&(result._matrix));
return result;
}
inline Matrix operator/(float right) const {
Matrix result(getRows(), getCols());
arm_mat_scale_f32(&_matrix, 1.0f / right,
&(result._matrix));
return result;
}
// vector ops
inline Vector operator*(const Vector &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getCols() == right.getRows());
#endif
Matrix resultMat = (*this) *
Matrix(right.getRows(), 1, right.getData());
return Vector(getRows(), resultMat.getData());
}
// matrix ops
inline Matrix operator+(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getRows() == right.getRows());
ASSERT(getCols() == right.getCols());
#endif
Matrix result(getRows(), getCols());
arm_mat_add_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator-(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getRows() == right.getRows());
ASSERT(getCols() == right.getCols());
#endif
Matrix result(getRows(), getCols());
arm_mat_sub_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator*(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(getCols() == right.getRows());
#endif
Matrix result(getRows(), right.getCols());
arm_mat_mult_f32(&_matrix, &(right._matrix),
&(result._matrix));
return result;
}
inline Matrix operator/(const Matrix &right) const {
#ifdef MATRIX_ASSERT
ASSERT(right.getRows() == right.getCols());
ASSERT(getCols() == right.getCols());
#endif
return (*this) * right.inverse();
}
// other functions
inline Matrix transpose() const {
Matrix result(getCols(), getRows());
arm_mat_trans_f32(&_matrix, &(result._matrix));
return result;
}
inline void swapRows(size_t a, size_t b) {
if (a == b) return;
for (size_t j = 0; j < getCols(); j++) {
float tmp = (*this)(a, j);
(*this)(a, j) = (*this)(b, j);
(*this)(b, j) = tmp;
}
}
inline void swapCols(size_t a, size_t b) {
if (a == b) return;
for (size_t i = 0; i < getRows(); i++) {
float tmp = (*this)(i, a);
(*this)(i, a) = (*this)(i, b);
(*this)(i, b) = tmp;
}
}
/**
* inverse based on LU factorization with partial pivotting
*/
Matrix inverse() const {
#ifdef MATRIX_ASSERT
ASSERT(getRows() == getCols());
#endif
Matrix result(getRows(), getCols());
Matrix work = (*this);
arm_mat_inverse_f32(&(work._matrix),
&(result._matrix));
return result;
}
inline void setAll(const float &val) {
for (size_t i = 0; i < getRows(); i++) {
for (size_t j = 0; j < getCols(); j++) {
(*this)(i, j) = val;
}
}
}
inline void set(const float *data) {
memcpy(getData(), data, getSize());
}
inline size_t getRows() const { return _matrix.numRows; }
inline size_t getCols() const { return _matrix.numCols; }
inline static Matrix identity(size_t size) {
Matrix result(size, size);
for (size_t i = 0; i < size; i++) {
result(i, i) = 1.0f;
}
return result;
}
inline static Matrix zero(size_t size) {
Matrix result(size, size);
result.setAll(0.0f);
return result;
}
inline static Matrix zero(size_t m, size_t n) {
Matrix result(m, n);
result.setAll(0.0f);
return result;
}
protected:
inline size_t getSize() const { return sizeof(float) * getRows() * getCols(); }
inline float *getData() { return _matrix.pData; }
inline const float *getData() const { return _matrix.pData; }
inline void setData(float *data) { _matrix.pData = data; }
private:
arm_matrix_instance_f32 _matrix;
};
} // namespace math
