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Adapted for shared library use with ROS

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This commit is contained in:
Roman Bapst
2014-09-27 12:00:15 +02:00
parent 4305625883
commit 020a829215
1 changed files with 68 additions and 46 deletions
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src/lib/mathlib/math/Matrix.hpp
+68 -46
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@@ -54,10 +54,9 @@
#define M_PI_2_F 1.570769
#endif
namespace math
{
namespace math {
template <unsigned int M, unsigned int N>
template<unsigned int M, unsigned int N>
class __EXPORT Matrix;
// MxN matrix with float elements
@@ -73,19 +72,19 @@ public:
/**
* struct for using arm_math functions
*/
#ifdef CONFIG_ARCH_ARM
#ifdef CONFIG_ARCH_ARM
arm_matrix_instance_f32 arm_mat;
#else
#else
eigen_matrix_instance arm_mat;
#endif
#endif
/**
* trivial ctor
* Initializes the elements to zero.
*/
MatrixBase() :
data{},
arm_mat{M, N, &data[0][0]}
MatrixBase() :
data {},
arm_mat {M, N, &data[0][0]}
{
}
@@ -95,19 +94,19 @@ public:
* copyt ctor
*/
MatrixBase(const MatrixBase<M, N> &m) :
arm_mat{M, N, &data[0][0]}
arm_mat {M, N, &data[0][0]}
{
memcpy(data, m.data, sizeof(data));
}
MatrixBase(const float *d) :
arm_mat{M, N, &data[0][0]}
arm_mat {M, N, &data[0][0]}
{
memcpy(data, d, sizeof(data));
}
MatrixBase(const float d[M][N]) :
arm_mat{M, N, &data[0][0]}
MatrixBase(const float d[M][N]) :
arm_mat {M, N, &data[0][0]}
{
memcpy(data, d, sizeof(data));
}
@@ -159,9 +158,9 @@ public:
*/
bool operator ==(const Matrix<M, N> &m) const {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
return false;
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
return false;
return true;
}
@@ -171,9 +170,9 @@ public:
*/
bool operator !=(const Matrix<M, N> &m) const {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
return true;
for (unsigned int j = 0; j < N; j++)
if (data[i][j] != m.data[i][j])
return true;
return false;
}
@@ -193,8 +192,8 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
res.data[i][j] = -data[i][j];
for (unsigned int j = 0; j < M; j++)
res.data[i][j] = -data[i][j];
return res;
}
@@ -206,16 +205,16 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
res.data[i][j] = data[i][j] + m.data[i][j];
for (unsigned int j = 0; j < M; j++)
res.data[i][j] = data[i][j] + m.data[i][j];
return res;
}
Matrix<M, N> &operator +=(const Matrix<M, N> &m) {
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
data[i][j] += m.data[i][j];
for (unsigned int j = 0; j < M; j++)
data[i][j] += m.data[i][j];
return *static_cast<Matrix<M, N>*>(this);
}
@@ -227,16 +226,16 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
res.data[i][j] = data[i][j] - m.data[i][j];
for (unsigned int j = 0; j < N; j++)
res.data[i][j] = data[i][j] - m.data[i][j];
return res;
}
Matrix<M, N> &operator -=(const Matrix<M, N> &m) {
for (unsigned int i = 0; i < N; i++)
for (unsigned int j = 0; j < M; j++)
data[i][j] -= m.data[i][j];
for (unsigned int j = 0; j < M; j++)
data[i][j] -= m.data[i][j];
return *static_cast<Matrix<M, N>*>(this);
}
@@ -248,16 +247,17 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
res.data[i][j] = data[i][j] * num;
for (unsigned int j = 0; j < N; j++)
res.data[i][j] = data[i][j] * num;
return res;
}
Matrix<M, N> &operator *=(const float num) {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
data[i][j] *= num;
for (unsigned int j = 0; j < N; j++)
data[i][j] *= num;
return *static_cast<Matrix<M, N>*>(this);
}
@@ -266,16 +266,16 @@ public:
Matrix<M, N> res;
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
res[i][j] = data[i][j] / num;
for (unsigned int j = 0; j < N; j++)
res[i][j] = data[i][j] / num;
return res;
}
Matrix<M, N> &operator /=(const float num) {
for (unsigned int i = 0; i < M; i++)
for (unsigned int j = 0; j < N; j++)
data[i][j] /= num;
for (unsigned int j = 0; j < N; j++)
data[i][j] /= num;
return *static_cast<Matrix<M, N>*>(this);
}
@@ -285,27 +285,49 @@ public:
*/
template <unsigned int P>
Matrix<M, P> operator *(const Matrix<N, P> &m) const {
#ifdef CONFIG_ARCH_ARM
Matrix<M, P> res;
arm_mat_mult_f32(&arm_mat, &m.arm_mat, &res.arm_mat);
return res;
#else
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::Matrix<float,N,P,Eigen::RowMajor> Him = Eigen::Map<Eigen::Matrix<float,N,P,Eigen::RowMajor> >(m.arm_mat.pData);
Eigen::Matrix<float,M,P,Eigen::RowMajor> Product = Me * Him;
Matrix<M, P> res(Product.data());
return res;
#endif
}
/**
* transpose the matrix
*/
Matrix<N, M> transposed(void) const {
#ifdef CONFIG_ARCH_ARM
Matrix<N, M> res;
arm_mat_trans_f32(&this->arm_mat, &res.arm_mat);
return res;
#else
Eigen::Matrix<float,N,M,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,N,M,Eigen::RowMajor> >(this->arm_mat.pData);
Me.transposeInPlace();
Matrix<N, M> res(Me.data());
return res;
#endif
}
/**
* invert the matrix
*/
Matrix<M, N> inversed(void) const {
#ifdef CONFIG_ARCH_ARM
Matrix<M, N> res;
arm_mat_inverse_f32(&this->arm_mat, &res.arm_mat);
return res;
#else
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::Matrix<float,M,N,Eigen::RowMajor> MyInverse = Me.inverse();//not sure if A = A.inverse() is a good idea
Matrix<M, N> res(MyInverse.data());
return res;
#endif
}
/**
@@ -323,7 +345,7 @@ public:
unsigned int n = (M < N) ? M : N;
for (unsigned int i = 0; i < n; i++)
data[i][i] = 1;
data[i][i] = 1;
}
void print(void) {
@@ -331,7 +353,7 @@ public:
printf("[ ");
for (unsigned int j = 0; j < N; j++)
printf("%.3f\t", data[i][j]);
printf("%.3f\t", data[i][j]);
printf(" ]\n");
}
@@ -364,16 +386,16 @@ public:
* multiplication by a vector
*/
Vector<M> operator *(const Vector<N> &v) const {
#ifdef CONFIG_ARCH_ARM
#ifdef CONFIG_ARCH_ARM
Vector<M> res;
arm_mat_mult_f32(&this->arm_mat, &v.arm_col, &res.arm_col);
#else
#else
//probably nicer if this could go into a function like "eigen_mat_mult" or so
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::VectorXf Vec = Eigen::Map<Eigen::VectorXf>(v.arm_col.pData,N);
Eigen::Matrix<float,M,N,Eigen::RowMajor> Me = Eigen::Map<Eigen::Matrix<float,M,N,Eigen::RowMajor> >(this->arm_mat.pData);
Eigen::VectorXf Vec = Eigen::Map<Eigen::VectorXf>(v.arm_col.pData,N);
Eigen::VectorXf Product = Me * Vec;
Vector<M> res(Product.data());
#endif
#endif
return res;
}
};
@@ -405,8 +427,8 @@ public:
*/
Vector<3> operator *(const Vector<3> &v) const {
Vector<3> res(data[0][0] * v.data[0] + data[0][1] * v.data[1] + data[0][2] * v.data[2],
data[1][0] * v.data[0] + data[1][1] * v.data[1] + data[1][2] * v.data[2],
data[2][0] * v.data[0] + data[2][1] * v.data[1] + data[2][2] * v.data[2]);
data[1][0] * v.data[0] + data[1][1] * v.data[1] + data[1][2] * v.data[2],
data[2][0] * v.data[0] + data[2][1] * v.data[1] + data[2][2] * v.data[2]);
return res;
}