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Added math library.
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jgoppert
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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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*
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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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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Matrix.h
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*
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* matrix code
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*/
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#pragma once
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#include <inttypes.h>
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#include <assert.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include <math.h>
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#include <systemlib/math/Vector.hpp>
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#include <systemlib/math/Matrix.hpp>
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// arm specific
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#include "arm_math.h"
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namespace math
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{
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class __EXPORT Matrix {
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public:
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// constructor
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Matrix(size_t rows, size_t cols) :
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_matrix()
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{
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arm_mat_init_f32(&_matrix,
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rows, cols,
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(float*)calloc(rows*cols,sizeof(float)));
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}
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Matrix(size_t rows, size_t cols, const float * data) :
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_matrix()
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{
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arm_mat_init_f32(&_matrix,
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rows, cols,
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(float*)malloc(rows*cols*sizeof(float)));
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memcpy(getData(),data,getSize());
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}
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// deconstructor
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virtual ~Matrix()
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{
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delete [] _matrix.pData;
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}
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// copy constructor (deep)
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Matrix(const Matrix & right) :
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_matrix()
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{
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arm_mat_init_f32(&_matrix,
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right.getRows(), right.getCols(),
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(float*)malloc(right.getRows()*
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right.getCols()*sizeof(float)));
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memcpy(getData(),right.getData(),
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getSize());
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}
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// assignment
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inline Matrix & operator=(const Matrix & right)
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{
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#ifdef MATRIX_ASSERT
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ASSERT(getRows()==right.getRows());
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ASSERT(getCols()==right.getCols());
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#endif
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if (this != &right)
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{
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memcpy(getData(),right.getData(),
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right.getSize());
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}
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return *this;
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}
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// element accessors
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inline float & operator()(size_t i, size_t j)
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{
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#ifdef MATRIX_ASSERT
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ASSERT(i<getRows());
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ASSERT(j<getCols());
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#endif
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return getData()[i*getCols() + j];
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}
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inline const float & operator()(size_t i, size_t j) const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(i<getRows());
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ASSERT(j<getCols());
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#endif
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return getData()[i*getCols() + j];
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}
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// output
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inline void print() const
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{
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for (size_t i=0; i<getRows(); i++)
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{
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for (size_t j=0; j<getCols(); j++)
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{
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float sig;
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int exp;
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float num = (*this)(i,j);
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float2SigExp(num,sig,exp);
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printf ("%6.3fe%03.3d,", (double)sig, exp);
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}
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printf("\n");
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}
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}
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// boolean ops
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inline bool operator==(const Matrix & right) const
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{
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for (size_t i=0; i<getRows(); i++)
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{
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for (size_t j=0; j<getCols(); j++)
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{
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if (fabsf((*this)(i,j)-right(i,j)) > 1e-30f)
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return false;
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}
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}
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return true;
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}
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// scalar ops
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inline Matrix operator+(float right) const
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{
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Matrix result(getRows(), getCols());
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arm_offset_f32((float *)getData(),right,
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(float *)result.getData(),getRows()*getCols());
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return result;
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}
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inline Matrix operator-(float right) const
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{
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Matrix result(getRows(), getCols());
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arm_offset_f32((float *)getData(),-right,
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(float *)result.getData(),getRows()*getCols());
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return result;
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}
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inline Matrix operator*(float right) const
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{
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Matrix result(getRows(), getCols());
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arm_mat_scale_f32(&_matrix,right,
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&(result._matrix));
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return result;
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}
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inline Matrix operator/(float right) const
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{
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Matrix result(getRows(), getCols());
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arm_mat_scale_f32(&_matrix,1.0f/right,
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&(result._matrix));
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return result;
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}
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// vector ops
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inline Vector operator*(const Vector & right) const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(getCols()==right.getRows());
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#endif
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Matrix resultMat = (*this)*
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Matrix(right.getRows(),1,right.getData());
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return Vector(getRows(),resultMat.getData());
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}
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// matrix ops
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inline Matrix operator+(const Matrix & right) const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(getRows()==right.getRows());
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ASSERT(getCols()==right.getCols());
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#endif
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Matrix result(getRows(), getCols());
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arm_mat_add_f32(&_matrix, &(right._matrix),
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&(result._matrix));
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return result;
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}
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inline Matrix operator-(const Matrix & right) const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(getRows()==right.getRows());
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ASSERT(getCols()==right.getCols());
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#endif
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Matrix result(getRows(), getCols());
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arm_mat_sub_f32(&_matrix, &(right._matrix),
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&(result._matrix));
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return result;
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}
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inline Matrix operator*(const Matrix & right) const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(getCols()==right.getRows());
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#endif
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Matrix result(getRows(), right.getCols());
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arm_mat_mult_f32(&_matrix, &(right._matrix),
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&(result._matrix));
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return result;
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}
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inline Matrix operator/(const Matrix & right) const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(right.getRows()==right.getCols());
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ASSERT(getCols()==right.getCols());
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#endif
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return (*this)*right.inverse();
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}
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// other functions
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inline Matrix transpose() const
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{
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Matrix result(getCols(),getRows());
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arm_mat_trans_f32(&_matrix, &(result._matrix));
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return result;
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}
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inline void swapRows(size_t a, size_t b)
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{
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if (a==b) return;
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for(size_t j=0;j<getCols();j++) {
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float tmp = (*this)(a,j);
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(*this)(a,j) = (*this)(b,j);
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(*this)(b,j) = tmp;
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}
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}
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inline void swapCols(size_t a, size_t b)
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{
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if (a==b) return;
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for(size_t i=0;i<getRows();i++) {
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float tmp = (*this)(i,a);
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(*this)(i,a) = (*this)(i,b);
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(*this)(i,b) = tmp;
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}
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}
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/**
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* inverse based on LU factorization with partial pivotting
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*/
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Matrix inverse() const
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{
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#ifdef MATRIX_ASSERT
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ASSERT(getRows()==getCols());
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#endif
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Matrix result(getRows(), getCols());
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Matrix work = (*this);
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arm_mat_inverse_f32(&(work._matrix),
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&(result._matrix));
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return result;
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}
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inline void setAll(const float & val)
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{
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for (size_t i=0;i<getRows();i++) {
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for (size_t j=0;j<getCols();j++) {
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(*this)(i,j) = val;
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}
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}
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}
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inline void set(const float * data)
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{
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memcpy(getData(),data,getSize());
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}
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inline size_t getRows() const { return _matrix.numRows; }
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inline size_t getCols() const { return _matrix.numCols; }
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inline static Matrix identity(size_t size) {
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Matrix result(size,size);
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for (size_t i=0; i<size; i++) {
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result(i,i) = 1.0f;
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}
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return result;
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}
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inline static Matrix zero(size_t size) {
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Matrix result(size,size);
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result.setAll(0.0f);
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return result;
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}
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inline static Matrix zero(size_t m, size_t n) {
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Matrix result(m,n);
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result.setAll(0.0f);
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return result;
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}
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protected:
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inline size_t getSize() const { return sizeof(float)*getRows()*getCols(); }
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inline float * getData() { return _matrix.pData; }
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inline const float * getData() const { return _matrix.pData; }
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inline void setData(float * data) { _matrix.pData = data; }
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private:
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arm_matrix_instance_f32 _matrix;
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};
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} // namespace math
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