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Diffstat (limited to 'src/modules/mathlib/math/Matrix.hpp')
-rw-r--r-- | src/modules/mathlib/math/Matrix.hpp | 61 |
1 files changed, 61 insertions, 0 deletions
diff --git a/src/modules/mathlib/math/Matrix.hpp b/src/modules/mathlib/math/Matrix.hpp new file mode 100644 index 000000000..f19db15ec --- /dev/null +++ b/src/modules/mathlib/math/Matrix.hpp @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * 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 <nuttx/config.h> + +#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU) +#include "arm/Matrix.hpp" +#else +#include "generic/Matrix.hpp" +#endif + +namespace math +{ +class Matrix; +int matrixTest(); +int matrixAddTest(); +int matrixSubTest(); +int matrixMultTest(); +int matrixInvTest(); +int matrixDivTest(); +int matrixArmTest(); +bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f); +} // namespace math |