Remove redundant Matrix4 Class.
- Matrix4 was used only for the least mean squres calculation as part of the
MicroBitCompassCalibrator. This has now been replace with an itereative
approximation algorithm.
This commit is contained in:
Joe Finney
parent
81b85e1335
commit
5d4c397311
4 changed files with 0 additions and 489 deletions
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@ -1,202 +0,0 @@
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/*
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The MIT License (MIT)
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Copyright (c) 2016 British Broadcasting Corporation.
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This software is provided by Lancaster University by arrangement with the BBC.
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Permission is hereby granted, free of charge, to any person obtaining a
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copy of this software and associated documentation files (the "Software"),
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to deal in the Software without restriction, including without limitation
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the rights to use, copy, modify, merge, publish, distribute, sublicense,
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and/or sell copies of the Software, and to permit persons to whom the
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Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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DEALINGS IN THE SOFTWARE.
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*/
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#ifndef MICROBIT_MATRIX4_H
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#define MICROBIT_MATRIX4_H
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#include "MicroBitConfig.h"
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/**
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* Class definition for a simple matrix, that is optimised for nx4 or 4xn matrices.
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*
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* This class is heavily optimised for these commonly used matrices as used in 3D geometry.
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* Whilst this class does support basic operations on matrices of any dimension, it is not intended as a
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* general purpose matrix class as inversion operations are only provided for 4x4 matrices.
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* For programmers needing more flexible Matrix support, the Matrix and MatrixMath classes from
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* Ernsesto Palacios provide a good basis:
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*
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* https://developer.mbed.org/cookbook/MatrixClass
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* https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/
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*/
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class Matrix4
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{
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float *data; // Linear buffer representing the matrix.
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int rows; // The number of rows in the matrix.
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int cols; // The number of columns in the matrix.
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public:
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/**
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* Constructor.
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* Create a matrix of the given size.
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*
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* @param rows the number of rows in the matrix to be created.
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*
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* @param cols the number of columns in the matrix to be created.
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*
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* @code
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* Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns.
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* @endcode
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*/
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Matrix4(int rows, int cols);
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/**
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* Constructor.
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* Create a matrix that is an identical copy of the given matrix.
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*
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* @param matrix The matrix to copy.
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*
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* @code
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* Matrix newMatrix(matrix); .
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* @endcode
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*/
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Matrix4(const Matrix4 &matrix);
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/**
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* Determines the number of columns in this matrix.
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*
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* @return The number of columns in the matrix.
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*
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* @code
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* int c = matrix.width();
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* @endcode
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*/
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int width();
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/**
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* Determines the number of rows in this matrix.
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*
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* @return The number of rows in the matrix.
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*
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* @code
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* int r = matrix.height();
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* @endcode
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*/
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int height();
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/**
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* Reads the matrix element at the given position.
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*
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* @param row The row of the element to read.
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*
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* @param col The column of the element to read.
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*
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* @return The value of the matrix element at the given position. 0 is returned if the given index is out of range.
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*
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* @code
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* float v = matrix.get(1,2);
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* @endcode
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*/
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float get(int row, int col);
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/**
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* Writes the matrix element at the given position.
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*
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* @param row The row of the element to write.
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*
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* @param col The column of the element to write.
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*
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* @param v The new value of the element.
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*
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* @code
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* matrix.set(1,2,42.0);
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* @endcode
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*/
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void set(int row, int col, float v);
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/**
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* Transposes this matrix.
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*
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* @return the resultant matrix.
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*
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* @code
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* matrix.transpose();
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* @endcode
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*/
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Matrix4 transpose();
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/**
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* Multiplies this matrix with the given matrix (if possible).
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*
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* @param matrix the matrix to multiply this matrix's values against.
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*
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* @param transpose Transpose the matrices before multiplication. Defaults to false.
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* @code
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* Matrix result = matrixA.multiply(matrixB);
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* @endcode
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*/
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Matrix4 multiply(Matrix4 &matrix, bool transpose = false);
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/**
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* Multiplies the transpose of this matrix with the given matrix (if possible).
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*
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* @param matrix the matrix to multiply this matrix's values against.
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* @code
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* Matrix result = matrixA.multiplyT(matrixB);
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* @endcode
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*/
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Matrix4 multiplyT(Matrix4 &matrix);
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/**
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* Performs an optimised inversion of a 4x4 matrix.
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* Only 4x4 matrices are supported by this operation.
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* @code
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* Matrix result = matrixA.invert();
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* @endcode
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*/
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Matrix4 invert();
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/**
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* Destructor.
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*
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* Frees any memory consumed by this Matrix4 instance.
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*/
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~Matrix4();
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};
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/**
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* Multiplies the transpose of this matrix with the given matrix (if possible).
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* @code
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* Matrix result = matrixA.multiplyT(matrixB);
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* @endcode
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*/
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inline Matrix4 Matrix4::multiplyT(Matrix4 &matrix)
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{
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return multiply(matrix, true);
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}
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#endif
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@ -18,7 +18,6 @@ set(YOTTA_AUTO_MICROBIT-DAL_CPP_FILES
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"types/CoordinateSystem.cpp"
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"types/ManagedString.cpp"
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"types/Matrix4.cpp"
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"types/MicroBitEvent.cpp"
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"types/MicroBitImage.cpp"
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"types/PacketBuffer.cpp"
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@ -26,7 +26,6 @@ DEALINGS IN THE SOFTWARE.
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#include "MicroBitConfig.h"
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#include "MicroBitCompassCalibrator.h"
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#include "EventModel.h"
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#include "Matrix4.h"
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#define CALIBRATION_INCREMENT 200
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@ -1,285 +0,0 @@
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/*
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The MIT License (MIT)
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Copyright (c) 2016 British Broadcasting Corporation.
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This software is provided by Lancaster University by arrangement with the BBC.
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Permission is hereby granted, free of charge, to any person obtaining a
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copy of this software and associated documentation files (the "Software"),
|
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to deal in the Software without restriction, including without limitation
|
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the rights to use, copy, modify, merge, publish, distribute, sublicense,
|
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and/or sell copies of the Software, and to permit persons to whom the
|
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Software is furnished to do so, subject to the following conditions:
|
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|
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The above copyright notice and this permission notice shall be included in
|
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all copies or substantial portions of the Software.
|
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|
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
|
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THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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DEALINGS IN THE SOFTWARE.
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*/
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#include "MicroBitConfig.h"
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#include "Matrix4.h"
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#include "mbed.h"
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/**
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* Class definition for a simple matrix, optimised for n x 4 or 4 x n matrices.
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*
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* This class is heavily optimised for these commonly used matrices as used in 3D geometry,
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* and is not intended as a general purpose matrix class. For programmers needing more flexible
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* Matrix support, the mbed Matrix and MatrixMath classes from Ernsesto Palacios provide a good basis:
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*
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* https://developer.mbed.org/cookbook/MatrixClass
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* https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/
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*/
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/**
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* Constructor.
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* Create a matrix of the given size.
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*
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* @param rows the number of rows in the matrix to be created.
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*
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* @param cols the number of columns in the matrix to be created.
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*
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* @code
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* Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns.
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* @endcode
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*/
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Matrix4::Matrix4(int rows, int cols)
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{
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this->rows = rows;
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this->cols = cols;
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int size = rows * cols;
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if (size > 0)
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data = new float[size];
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else
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data = NULL;
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}
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/**
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* Constructor.
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* Create a matrix that is an identical copy of the given matrix.
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*
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* @param matrix The matrix to copy.
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*
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* @code
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* Matrix newMatrix(matrix); .
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* @endcode
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*/
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Matrix4::Matrix4(const Matrix4 &matrix)
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{
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this->rows = matrix.rows;
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this->cols = matrix.cols;
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int size = rows * cols;
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if (size > 0)
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{
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data = new float[size];
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for (int i = 0; i < size; i++)
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data[i] = matrix.data[i];
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}
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else
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{
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data = NULL;
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}
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}
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/**
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* Determines the number of columns in this matrix.
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*
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* @return The number of columns in the matrix.
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*
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* @code
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* int c = matrix.width();
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* @endcode
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*/
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int Matrix4::width()
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{
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return cols;
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}
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/**
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* Determines the number of rows in this matrix.
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*
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* @return The number of rows in the matrix.
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*
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* @code
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* int r = matrix.height();
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* @endcode
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*/
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int Matrix4::height()
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{
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return rows;
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}
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/**
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* Reads the matrix element at the given position.
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*
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* @param row The row of the element to read.
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*
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* @param col The column of the element to read.
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*
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* @return The value of the matrix element at the given position. 0 is returned if the given index is out of range.
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*
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* @code
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* float v = matrix.get(1,2);
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* @endcode
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*/
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float Matrix4::get(int row, int col)
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{
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if (row < 0 || col < 0 || row >= rows || col >= cols)
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return 0;
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return data[width() * row + col];
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}
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/**
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* Writes the matrix element at the given position.
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*
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* @param row The row of the element to write.
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*
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* @param col The column of the element to write.
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*
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* @param v The new value of the element.
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*
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* @code
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* matrix.set(1,2,42.0);
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* @endcode
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*/
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void Matrix4::set(int row, int col, float v)
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{
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if (row < 0 || col < 0 || row >= rows || col >= cols)
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return;
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data[width() * row + col] = v;
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}
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/**
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* Transposes this matrix.
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*
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* @return the resultant matrix.
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*
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* @code
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* matrix.transpose();
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* @endcode
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*/
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Matrix4 Matrix4::transpose()
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{
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Matrix4 result = Matrix4(cols, rows);
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for (int i = 0; i < width(); i++)
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for (int j = 0; j < height(); j++)
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result.set(i, j, get(j, i));
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return result;
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}
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/**
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* Multiplies this matrix with the given matrix (if possible).
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*
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* @param matrix the matrix to multiply this matrix's values against.
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*
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* @param transpose Transpose the matrices before multiplication. Defaults to false.
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* @code
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* Matrix result = matrixA.multiply(matrixB);
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* @endcode
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*/
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Matrix4 Matrix4::multiply(Matrix4 &matrix, bool transpose)
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{
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int w = transpose ? height() : width();
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int h = transpose ? width() : height();
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if (w != matrix.height())
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return Matrix4(0, 0);
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Matrix4 result(h, matrix.width());
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for (int r = 0; r < result.height(); r++)
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{
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for (int c = 0; c < result.width(); c++)
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{
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float v = 0.0;
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for (int i = 0; i < w; i++)
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v += (transpose ? get(i, r) : get(r, i)) * matrix.get(i, c);
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result.set(r, c, v);
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}
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}
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return result;
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}
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/**
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* Performs an optimised inversion of a 4x4 matrix.
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* Only 4x4 matrices are supported by this operation.
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*
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* @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
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*
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* @code
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* Matrix result = matrixA.invert();
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* @endcode
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*/
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Matrix4 Matrix4::invert()
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{
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// We only support square matrices of size 4...
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if (width() != height() || width() != 4)
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return Matrix4(0, 0);
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Matrix4 result(width(), height());
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result.data[0] = data[5] * data[10] * data[15] - data[5] * data[11] * data[14] - data[9] * data[6] * data[15] + data[9] * data[7] * data[14] + data[13] * data[6] * data[11] - data[13] * data[7] * data[10];
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result.data[1] = -data[1] * data[10] * data[15] + data[1] * data[11] * data[14] + data[9] * data[2] * data[15] - data[9] * data[3] * data[14] - data[13] * data[2] * data[11] + data[13] * data[3] * data[10];
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result.data[2] = data[1] * data[6] * data[15] - data[1] * data[7] * data[14] - data[5] * data[2] * data[15] + data[5] * data[3] * data[14] + data[13] * data[2] * data[7] - data[13] * data[3] * data[6];
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result.data[3] = -data[1] * data[6] * data[11] + data[1] * data[7] * data[10] + data[5] * data[2] * data[11] - data[5] * data[3] * data[10] - data[9] * data[2] * data[7] + data[9] * data[3] * data[6];
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result.data[4] = -data[4] * data[10] * data[15] + data[4] * data[11] * data[14] + data[8] * data[6] * data[15] - data[8] * data[7] * data[14] - data[12] * data[6] * data[11] + data[12] * data[7] * data[10];
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result.data[5] = data[0] * data[10] * data[15] - data[0] * data[11] * data[14] - data[8] * data[2] * data[15] + data[8] * data[3] * data[14] + data[12] * data[2] * data[11] - data[12] * data[3] * data[10];
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result.data[6] = -data[0] * data[6] * data[15] + data[0] * data[7] * data[14] + data[4] * data[2] * data[15] - data[4] * data[3] * data[14] - data[12] * data[2] * data[7] + data[12] * data[3] * data[6];
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result.data[7] = data[0] * data[6] * data[11] - data[0] * data[7] * data[10] - data[4] * data[2] * data[11] + data[4] * data[3] * data[10] + data[8] * data[2] * data[7] - data[8] * data[3] * data[6];
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result.data[8] = data[4] * data[9] * data[15] - data[4] * data[11] * data[13] - data[8] * data[5] * data[15] + data[8] * data[7] * data[13] + data[12] * data[5] * data[11] - data[12] * data[7] * data[9];
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result.data[9] = -data[0] * data[9] * data[15] + data[0] * data[11] * data[13] + data[8] * data[1] * data[15] - data[8] * data[3] * data[13] - data[12] * data[1] * data[11] + data[12] * data[3] * data[9];
|
||||
result.data[10] = data[0] * data[5] * data[15] - data[0] * data[7] * data[13] - data[4] * data[1] * data[15] + data[4] * data[3] * data[13] + data[12] * data[1] * data[7] - data[12] * data[3] * data[5];
|
||||
result.data[11] = -data[0] * data[5] * data[11] + data[0] * data[7] * data[9] + data[4] * data[1] * data[11] - data[4] * data[3] * data[9] - data[8] * data[1] * data[7] + data[8] * data[3] * data[5];
|
||||
result.data[12] = -data[4] * data[9] * data[14] + data[4] * data[10] * data[13] + data[8] * data[5] * data[14] - data[8] * data[6] * data[13] - data[12] * data[5] * data[10] + data[12] * data[6] * data[9];
|
||||
result.data[13] = data[0] * data[9] * data[14] - data[0] * data[10] * data[13] - data[8] * data[1] * data[14] + data[8] * data[2] * data[13] + data[12] * data[1] * data[10] - data[12] * data[2] * data[9];
|
||||
result.data[14] = -data[0] * data[5] * data[14] + data[0] * data[6] * data[13] + data[4] * data[1] * data[14] - data[4] * data[2] * data[13] - data[12] * data[1] * data[6] + data[12] * data[2] * data[5];
|
||||
result.data[15] = data[0] * data[5] * data[10] - data[0] * data[6] * data[9] - data[4] * data[1] * data[10] + data[4] * data[2] * data[9] + data[8] * data[1] * data[6] - data[8] * data[2] * data[5];
|
||||
|
||||
float det = data[0] * result.data[0] + data[1] * result.data[4] + data[2] * result.data[8] + data[3] * result.data[12];
|
||||
|
||||
if (det == 0)
|
||||
return Matrix4(0, 0);
|
||||
|
||||
det = 1.0f / det;
|
||||
|
||||
for (int i = 0; i < 16; i++)
|
||||
result.data[i] *= det;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Destructor.
|
||||
*
|
||||
* Frees any memory consumed by this Matrix4 instance.
|
||||
*/
|
||||
Matrix4::~Matrix4()
|
||||
{
|
||||
if (data != NULL)
|
||||
{
|
||||
delete data;
|
||||
data = NULL;
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue