RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Performance improvements

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This commit is contained in:
Pascal Serrarens 2025-04-09 12:31:46 +02:00
parent 2062e4a71c
commit 5fddebd1bc
2 changed files with 30 additions and 15 deletions
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44
LinearAlgebra/Matrix.cpp
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@ -3,7 +3,7 @@
namespace LinearAlgebra { namespace LinearAlgebra {
#pragma region Matrix1 #pragma region Matrix1
Matrix1::Matrix1(int size) : size(size) { Matrix1::Matrix1(int size) : size(size) {
if (this->size == 0) if (this->size == 0)
@ -97,6 +97,11 @@ Matrix2 Matrix2::Zero(int nRows, int nCols) {
return r; return r;
} }
void Matrix2::Clear() {
for (int ix = 0; ix < this->nValues; ix++)
this->data[ix] = 0;
}
Matrix2 Matrix2::Identity(int size) { Matrix2 Matrix2::Identity(int size) {
return Diagonal(1, size); return Diagonal(1, size);
} }
@ -129,7 +134,8 @@ Matrix2 Matrix2::Transpose() const {
for (uint rowIx = 0; rowIx < this->nRows; rowIx++) { for (uint rowIx = 0; rowIx < this->nRows; rowIx++) {
for (uint colIx = 0; colIx < this->nCols; colIx++) for (uint colIx = 0; colIx < this->nCols; colIx++)
r.data[colIx * this->nCols + rowIx] = this->data[rowIx * this->nCols + colIx]; r.data[colIx * this->nCols + rowIx] =
this->data[rowIx * this->nCols + colIx];
} }
return r; return r;
} }
@ -177,10 +183,7 @@ Matrix2 LinearAlgebra::Matrix2::operator*(const Matrix2& B) const {
return r; return r;
} }
Matrix2 Matrix2::Slice(int rowStart, Matrix2 Matrix2::Slice(int rowStart, int rowStop, int colStart, int colStop) {
int rowStop,
int colStart,
int colStop) {
Matrix2 r = Matrix2(rowStop - rowStart, colStop - colStart); Matrix2 r = Matrix2(rowStop - rowStart, colStop - colStart);
int resultRowIx = 0; int resultRowIx = 0;
@ -194,14 +197,25 @@ Matrix2 Matrix2::Slice(int rowStart,
} }
void Matrix2::UpdateSlice(int rowStart, void Matrix2::UpdateSlice(int rowStart,
int rowStop, int rowStop,
int colStart, int colStart,
int colStop, int colStop,
const Matrix2& m) const { const Matrix2& m) const {
for (int i = rowStart; i < rowStop; i++) { // for (int i = rowStart; i < rowStop; i++) {
for (int j = colStart; j < colStop; j++) // for (int j = colStart; j < colStop; j++)
this->data[i * this->nCols + j] = // this->data[i * this->nCols + j] =
m.data[(i - rowStart) * m.nCols + (j - colStart)]; // m.data[(i - rowStart) * m.nCols + (j - colStart)];
// }
int rRowDataIx = rowStart * this->nCols;
int mRowDataIx = 0;
for (int rowIx = rowStart; rowIx < rowStop; rowIx++) {
rRowDataIx = rowIx * this->nCols;
// rRowDataIx += this->nCols;
mRowDataIx += m.nCols;
for (int colIx = colStart; colIx < colStop; colIx++) {
this->data[rRowDataIx + colIx] = m.data[mRowDataIx + (colIx - colStart)];
}
} }
} }
@ -229,7 +243,7 @@ Matrix2 LinearAlgebra::Matrix2::Omega(const Vector3& v) {
// Matrix2 // Matrix2
#pragma endregion #pragma endregion
} // namespace LinearAlgbra } // namespace LinearAlgebra
template <> template <>
MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) { MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) {

1
LinearAlgebra/Matrix.h
View File

@ -39,6 +39,7 @@ class Matrix2 {
Matrix2 Clone() const; Matrix2 Clone() const;
static Matrix2 Zero(int nRows, int nCols); static Matrix2 Zero(int nRows, int nCols);
void Clear();
static Matrix2 Identity(int size); static Matrix2 Identity(int size);