Ernesto Palacios / MatrixMath

This class provides with operations for Matrix Objects

Dependents:   Matrix_class Wizardsneverdie mbed_multiplex_matrix Kinematics_Project_G5 ... more

MatrixMath.h@5:93948a9bbde2, 2011-10-30 (annotated)

Committer:
Yo_Robot
Date:
Sun Oct 30 19:21:30 2011 +0000
Revision:
5:93948a9bbde2
Parent:
3:48754fe86e08
Child:
6:aa5e94cddb3f
Version 0.9 Simple Kinematic Operations. View Log.c on Matrix Class for details.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 3:48754fe86e08 1 /**
Yo_Robot 5:93948a9bbde2 2 * @brief Version 0.9
Yo_Robot 3:48754fe86e08 3 * @file MatrixMath.h
Yo_Robot 3:48754fe86e08 4 * @author Ernesto Palacios
Yo_Robot 3:48754fe86e08 5 *
Yo_Robot 3:48754fe86e08 6 * Created on 15 de septiembre de 2011, 09:44 AM.
Yo_Robot 3:48754fe86e08 7 *
Yo_Robot 5:93948a9bbde2 8 * Develop Under GPL v3.0 License
Yo_Robot 5:93948a9bbde2 9 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 3:48754fe86e08 10 *
Yo_Robot 3:48754fe86e08 11 */
Yo_Robot 3:48754fe86e08 12
Yo_Robot 5:93948a9bbde2 13 #ifndef MATRIXMATH_H
Yo_Robot 5:93948a9bbde2 14 #define MATRIXMATH_H
Yo_Robot 3:48754fe86e08 15
Yo_Robot 3:48754fe86e08 16 #include "mbed.h"
Yo_Robot 3:48754fe86e08 17 #include "Matrix.h"
Yo_Robot 3:48754fe86e08 18
Yo_Robot 3:48754fe86e08 19
Yo_Robot 3:48754fe86e08 20 /**
Yo_Robot 5:93948a9bbde2 21 * @brief This class provides STATIC methods to perform operations
Yo_Robot 5:93948a9bbde2 22 * over Matrix Objects, version 0.9.
Yo_Robot 3:48754fe86e08 23 */
Yo_Robot 3:48754fe86e08 24 class MatrixMath{
Yo_Robot 3:48754fe86e08 25 public:
Yo_Robot 3:48754fe86e08 26
Yo_Robot 3:48754fe86e08 27
Yo_Robot 3:48754fe86e08 28 /**@brief
Yo_Robot 3:48754fe86e08 29 * Transposes Matrix, return new Object.
Yo_Robot 3:48754fe86e08 30 * @param Mat matrix to calculate
Yo_Robot 5:93948a9bbde2 31 * @return Transposed Matrix
Yo_Robot 3:48754fe86e08 32 */
Yo_Robot 3:48754fe86e08 33 static Matrix Transpose( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 34
Yo_Robot 3:48754fe86e08 35
Yo_Robot 3:48754fe86e08 36 /**@brief
Yo_Robot 5:93948a9bbde2 37 * Calculate the inverse of a [n,n] Matrix BUT you check first if
Yo_Robot 5:93948a9bbde2 38 * the determinant is != 0, Same matrix will be return if Det( Mat ) == 0.
Yo_Robot 3:48754fe86e08 39 * @param Mat matrix to calcute inverse.
Yo_Robot 3:48754fe86e08 40 * @return Matrix Inverse
Yo_Robot 3:48754fe86e08 41 */
Yo_Robot 3:48754fe86e08 42 static Matrix Inv( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 43
Yo_Robot 3:48754fe86e08 44
Yo_Robot 3:48754fe86e08 45 /**@brief
Yo_Robot 5:93948a9bbde2 46 * Creates an identity [n,n] Matrix
Yo_Robot 3:48754fe86e08 47 * @param Rows Number of Rowns and Columns
Yo_Robot 5:93948a9bbde2 48 * @return Identity Matrix of dimensions [Rows,Rows]
Yo_Robot 3:48754fe86e08 49 */
Yo_Robot 3:48754fe86e08 50 static Matrix Eye( int Rows );
Yo_Robot 5:93948a9bbde2 51
Yo_Robot 3:48754fe86e08 52
Yo_Robot 3:48754fe86e08 53 /**@brief
Yo_Robot 3:48754fe86e08 54 * Returns the dot Product of any two same leght vectors.
Yo_Robot 5:93948a9bbde2 55 * In this case a vector is defined as a [1,n] or [n,1] Matrix.
Yo_Robot 5:93948a9bbde2 56 * Very Flexible Function.
Yo_Robot 3:48754fe86e08 57 * @param leftM First Vector
Yo_Robot 3:48754fe86e08 58 * @param rightM Second Vector
Yo_Robot 3:48754fe86e08 59 * @return Dot Product or Scalar Product.
Yo_Robot 3:48754fe86e08 60 */
Yo_Robot 3:48754fe86e08 61 static float dot( const Matrix& leftM, const Matrix& rightM );
Yo_Robot 5:93948a9bbde2 62
Yo_Robot 3:48754fe86e08 63
Yo_Robot 3:48754fe86e08 64 /**@brief Calculates the determinant of a Matrix.
Yo_Robot 3:48754fe86e08 65 * @param Mat matrix to calculate.
Yo_Robot 3:48754fe86e08 66 * @return the determinant.
Yo_Robot 3:48754fe86e08 67 */
Yo_Robot 3:48754fe86e08 68 static float det( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 69
Yo_Robot 3:48754fe86e08 70
Yo_Robot 3:48754fe86e08 71 //==== For Kinematics ====//
Yo_Robot 3:48754fe86e08 72
Yo_Robot 3:48754fe86e08 73 /**@brief
Yo_Robot 3:48754fe86e08 74 * Calculates the Rotation Matrix Transform along 'x' axis in radians.
Yo_Robot 3:48754fe86e08 75 * @param radians rotation angle.
Yo_Robot 3:48754fe86e08 76 * @return Rotation Matrix[4,4] along 'x' axis.
Yo_Robot 3:48754fe86e08 77 */
Yo_Robot 3:48754fe86e08 78 static Matrix RotX( float radians );
Yo_Robot 3:48754fe86e08 79
Yo_Robot 3:48754fe86e08 80
Yo_Robot 3:48754fe86e08 81 /**@brief
Yo_Robot 3:48754fe86e08 82 * Calculates the Rotation Matrix Transform along 'y' axis in radians.
Yo_Robot 3:48754fe86e08 83 * @param radians rotation angle.
Yo_Robot 3:48754fe86e08 84 * @return Rotation Matrix[4,4] along 'y' axis.
Yo_Robot 3:48754fe86e08 85 */
Yo_Robot 3:48754fe86e08 86 static Matrix RotY( float radians );
Yo_Robot 3:48754fe86e08 87
Yo_Robot 3:48754fe86e08 88
Yo_Robot 3:48754fe86e08 89 /**@brief
Yo_Robot 5:93948a9bbde2 90 * Calculates the Rotation Matrix Transform along 'z' axis in radians.
Yo_Robot 3:48754fe86e08 91 * @param radians rotation angle.
Yo_Robot 5:93948a9bbde2 92 * @return Rotation Matrix[4,4] along 'z' axis.
Yo_Robot 3:48754fe86e08 93 */
Yo_Robot 3:48754fe86e08 94 static Matrix RotZ( float radians );
Yo_Robot 3:48754fe86e08 95
Yo_Robot 3:48754fe86e08 96 /**@brief
Yo_Robot 5:93948a9bbde2 97 * Calculates the Translation Matrix to coordenates (x' y' z').
Yo_Robot 3:48754fe86e08 98 * @param x axis translation
Yo_Robot 3:48754fe86e08 99 * @param y axis translation
Yo_Robot 3:48754fe86e08 100 * @param z axis translation
Yo_Robot 3:48754fe86e08 101 * @return Translation Matrix[4,4] x'y'z'.
Yo_Robot 3:48754fe86e08 102 */
Yo_Robot 3:48754fe86e08 103 static Matrix Transl( float x, float y, float z );
Yo_Robot 3:48754fe86e08 104
Yo_Robot 3:48754fe86e08 105 private:
Yo_Robot 3:48754fe86e08 106
Yo_Robot 3:48754fe86e08 107 /**@brief
Yo_Robot 3:48754fe86e08 108 * Calculates the Determinant of a 3x3 Matrix
Yo_Robot 3:48754fe86e08 109 * @param Mat Already made sure is a 3 by 3
Yo_Robot 3:48754fe86e08 110 * @return Float, determinant.
Yo_Robot 3:48754fe86e08 111 */
Yo_Robot 3:48754fe86e08 112 float Det3x3( const Matrix& Mat );
Yo_Robot 3:48754fe86e08 113
Yo_Robot 3:48754fe86e08 114 };
Yo_Robot 3:48754fe86e08 115
Yo_Robot 3:48754fe86e08 116 #endif /* MATRIXMATH_H */