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author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-19 14:10:25 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-19 14:10:25 +0400 |
commit | ba612c3ee8b88b9352e7cfa723997887dd736b76 (patch) | |
tree | 8b101b50259ffebd4de12891f4f684d6d84c3f53 /src/lib/mathlib/math/Matrix3.hpp | |
parent | e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940 (diff) | |
download | px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.tar.gz px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.tar.bz2 px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.zip |
mathlib fixes
Diffstat (limited to 'src/lib/mathlib/math/Matrix3.hpp')
-rw-r--r-- | src/lib/mathlib/math/Matrix3.hpp | 356 |
1 files changed, 0 insertions, 356 deletions
diff --git a/src/lib/mathlib/math/Matrix3.hpp b/src/lib/mathlib/math/Matrix3.hpp deleted file mode 100644 index c7eb67ba7..000000000 --- a/src/lib/mathlib/math/Matrix3.hpp +++ /dev/null @@ -1,356 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Will Perone <will.perone@gmail.com> - * Anton Babushkin <anton.babushkin@me.com> - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @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 |