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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 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 <systemlib/math/Vector.hpp>
+#include <systemlib/math/Matrix.hpp>
+
+// arm specific
+#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