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Merge branch 'mathlib_new' into vector_control2
This commit is contained in:
Anton Babushkin
+395
-21
@@ -1,6 +1,9 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Anton Babushkin <anton.babushkin@me.com>
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* Pavel Kirienko <pavel.kirienko@gmail.com>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -32,30 +35,401 @@
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****************************************************************************/
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/**
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* @file Matrix.h
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* @file Matrix.hpp
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*
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* matrix code
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* Matrix class
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*/
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#pragma once
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#ifndef MATRIX_HPP
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#define MATRIX_HPP
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#include <nuttx/config.h>
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#if defined(CONFIG_ARCH_CORTEXM4) && defined(CONFIG_ARCH_FPU)
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#include "arm/Matrix.hpp"
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#else
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#include "generic/Matrix.hpp"
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#endif
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#include <stdio.h>
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#include "../CMSIS/Include/arm_math.h"
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namespace math
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{
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class Matrix;
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int matrixTest();
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int matrixAddTest();
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int matrixSubTest();
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int matrixMultTest();
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int matrixInvTest();
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int matrixDivTest();
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int matrixArmTest();
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bool matrixEqual(const Matrix &a, const Matrix &b, float eps = 1.0e-5f);
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} // namespace math
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template <unsigned int M, unsigned int N>
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class __EXPORT Matrix;
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// MxN matrix with float elements
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template <unsigned int M, unsigned int N>
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class __EXPORT MatrixBase
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{
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public:
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/**
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* matrix data[row][col]
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*/
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float data[M][N];
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/**
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* struct for using arm_math functions
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*/
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arm_matrix_instance_f32 arm_mat;
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/**
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* trivial ctor
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* note that this ctor will not initialize elements
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*/
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MatrixBase() {
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arm_mat = {M, N, &data[0][0]};
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}
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/**
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* copyt ctor
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*/
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MatrixBase(const MatrixBase<M, N> &m) {
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arm_mat = {M, N, &data[0][0]};
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memcpy(data, m.data, sizeof(data));
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}
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MatrixBase(const float *d) {
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arm_mat = {M, N, &data[0][0]};
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memcpy(data, d, sizeof(data));
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}
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MatrixBase(const float d[M][N]) {
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arm_mat = {M, N, &data[0][0]};
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memcpy(data, d, sizeof(data));
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}
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/**
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* set data
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*/
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void set(const float *d) {
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memcpy(data, d, sizeof(data));
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}
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/**
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* set data
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*/
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void set(const float d[M][N]) {
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memcpy(data, d, sizeof(data));
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}
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/**
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* access by index
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*/
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float &operator()(const unsigned int row, const unsigned int col) {
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return data[row][col];
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}
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/**
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* access by index
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*/
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float operator()(const unsigned int row, const unsigned int col) const {
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return data[row][col];
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}
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/**
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* get rows number
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*/
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unsigned int get_rows() const {
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return M;
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}
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/**
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* get columns number
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*/
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unsigned int get_cols() const {
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return N;
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}
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/**
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* test for equality
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*/
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bool operator ==(const Matrix<M, N> &m) const {
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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if (data[i][j] != m.data[i][j])
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return false;
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return true;
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}
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/**
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* test for inequality
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*/
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bool operator !=(const Matrix<M, N> &m) const {
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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if (data[i][j] != m.data[i][j])
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return true;
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return false;
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}
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/**
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* set to value
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*/
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const Matrix<M, N> &operator =(const Matrix<M, N> &m) {
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memcpy(data, m.data, sizeof(data));
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return *static_cast<Matrix<M, N>*>(this);
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}
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/**
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* negation
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*/
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Matrix<M, N> operator -(void) const {
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Matrix<M, N> res;
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for (unsigned int i = 0; i < N; i++)
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for (unsigned int j = 0; j < M; j++)
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res.data[i][j] = -data[i][j];
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return res;
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}
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/**
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* addition
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*/
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Matrix<M, N> operator +(const Matrix<M, N> &m) const {
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Matrix<M, N> res;
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for (unsigned int i = 0; i < N; i++)
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for (unsigned int j = 0; j < M; j++)
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res.data[i][j] = data[i][j] + m.data[i][j];
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return res;
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}
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Matrix<M, N> &operator +=(const Matrix<M, N> &m) {
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for (unsigned int i = 0; i < N; i++)
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for (unsigned int j = 0; j < M; j++)
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data[i][j] += m.data[i][j];
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return *static_cast<Matrix<M, N>*>(this);
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}
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/**
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* subtraction
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*/
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Matrix<M, N> operator -(const Matrix<M, N> &m) const {
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Matrix<M, N> res;
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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res.data[i][j] = data[i][j] - m.data[i][j];
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return res;
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}
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Matrix<M, N> &operator -=(const Matrix<M, N> &m) {
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for (unsigned int i = 0; i < N; i++)
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for (unsigned int j = 0; j < M; j++)
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data[i][j] -= m.data[i][j];
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return *static_cast<Matrix<M, N>*>(this);
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}
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/**
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* uniform scaling
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*/
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Matrix<M, N> operator *(const float num) const {
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Matrix<M, N> res;
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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res.data[i][j] = data[i][j] * num;
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return res;
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}
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Matrix<M, N> &operator *=(const float num) {
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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data[i][j] *= num;
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return *static_cast<Matrix<M, N>*>(this);
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}
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Matrix<M, N> operator /(const float num) const {
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Matrix<M, N> res;
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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res[i][j] = data[i][j] / num;
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return res;
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}
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Matrix<M, N> &operator /=(const float num) {
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for (unsigned int i = 0; i < M; i++)
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for (unsigned int j = 0; j < N; j++)
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data[i][j] /= num;
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return *static_cast<Matrix<M, N>*>(this);
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}
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/**
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* multiplication by another matrix
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*/
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template <unsigned int P>
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Matrix<M, P> operator *(const Matrix<N, P> &m) const {
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Matrix<M, P> res;
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arm_mat_mult_f32(&arm_mat, &m.arm_mat, &res.arm_mat);
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return res;
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}
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/**
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* transpose the matrix
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*/
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Matrix<N, M> transposed(void) const {
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Matrix<N, M> res;
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arm_mat_trans_f32(&this->arm_mat, &res.arm_mat);
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return res;
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}
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/**
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* invert the matrix
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*/
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Matrix<M, N> inversed(void) const {
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Matrix<M, N> res;
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arm_mat_inverse_f32(&this->arm_mat, &res.arm_mat);
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return res;
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}
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/**
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* set zero matrix
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*/
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void zero(void) {
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memset(data, 0, sizeof(data));
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}
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/**
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* set identity matrix
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*/
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void identity(void) {
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memset(data, 0, sizeof(data));
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unsigned int n = (M < N) ? M : N;
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for (unsigned int i = 0; i < n; i++)
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data[i][i] = 1;
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}
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void print(void) {
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for (unsigned int i = 0; i < M; i++) {
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printf("[ ");
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for (unsigned int j = 0; j < N; j++)
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printf("%.3f\t", data[i][j]);
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printf(" ]\n");
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}
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}
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};
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template <unsigned int M, unsigned int N>
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class __EXPORT Matrix : public MatrixBase<M, N>
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{
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public:
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using MatrixBase<M, N>::operator *;
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Matrix() : MatrixBase<M, N>() {}
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Matrix(const Matrix<M, N> &m) : MatrixBase<M, N>(m) {}
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Matrix(const float *d) : MatrixBase<M, N>(d) {}
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Matrix(const float d[M][N]) : MatrixBase<M, N>(d) {}
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/**
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* set to value
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*/
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const Matrix<M, N> &operator =(const Matrix<M, N> &m) {
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memcpy(this->data, m.data, sizeof(this->data));
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return *this;
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}
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/**
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* multiplication by a vector
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*/
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Vector<M> operator *(const Vector<N> &v) const {
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Vector<M> res;
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arm_mat_mult_f32(&this->arm_mat, &v.arm_col, &res.arm_col);
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return res;
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}
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};
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template <>
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class __EXPORT Matrix<3, 3> : public MatrixBase<3, 3>
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{
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public:
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using MatrixBase<3, 3>::operator *;
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Matrix() : MatrixBase<3, 3>() {}
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Matrix(const Matrix<3, 3> &m) : MatrixBase<3, 3>(m) {}
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Matrix(const float *d) : MatrixBase<3, 3>(d) {}
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Matrix(const float d[3][3]) : MatrixBase<3, 3>(d) {}
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/**
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* set to value
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*/
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const Matrix<3, 3> &operator =(const Matrix<3, 3> &m) {
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memcpy(this->data, m.data, sizeof(this->data));
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return *this;
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}
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/**
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* multiplication by a vector
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*/
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Vector<3> operator *(const Vector<3> &v) const {
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Vector<3> res(data[0][0] * v.data[0] + data[0][1] * v.data[1] + data[0][2] * v.data[2],
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data[1][0] * v.data[0] + data[1][1] * v.data[1] + data[1][2] * v.data[2],
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data[2][0] * v.data[0] + data[2][1] * v.data[1] + data[2][2] * v.data[2]);
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return res;
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}
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/**
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* create a rotation matrix from given euler angles
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* based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
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*/
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void from_euler(float roll, float pitch, float yaw) {
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float cp = cosf(pitch);
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float sp = sinf(pitch);
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float sr = sinf(roll);
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float cr = cosf(roll);
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float sy = sinf(yaw);
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float cy = cosf(yaw);
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data[0][0] = cp * cy;
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data[0][1] = (sr * sp * cy) - (cr * sy);
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data[0][2] = (cr * sp * cy) + (sr * sy);
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data[1][0] = cp * sy;
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data[1][1] = (sr * sp * sy) + (cr * cy);
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data[1][2] = (cr * sp * sy) - (sr * cy);
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data[2][0] = -sp;
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data[2][1] = sr * cp;
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data[2][2] = cr * cp;
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}
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/**
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* get euler angles from rotation matrix
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*/
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Vector<3> to_euler(void) const {
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Vector<3> euler;
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euler.data[1] = asinf(-data[2][0]);
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if (fabsf(euler.data[1] - M_PI_2_F) < 1.0e-3f) {
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euler.data[0] = 0.0f;
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euler.data[2] = atan2f(data[1][2] - data[0][1], data[0][2] + data[1][1]) + euler.data[0];
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} else if (fabsf(euler.data[1] + M_PI_2_F) < 1.0e-3f) {
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euler.data[0] = 0.0f;
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euler.data[2] = atan2f(data[1][2] - data[0][1], data[0][2] + data[1][1]) - euler.data[0];
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} else {
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euler.data[0] = atan2f(data[2][1], data[2][2]);
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euler.data[2] = atan2f(data[1][0], data[0][0]);
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}
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return euler;
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}
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};
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}
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#endif // MATRIX_HPP
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