RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Added expiremental operator*

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Pascal Serrarens 2024-02-21 12:55:37 +01:00
parent 7b7df5d93d
commit f38e01d80a
2 changed files with 35 additions and 30 deletions
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43
Matrix.cpp
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@ -1,7 +1,6 @@
#include "Matrix.h" #include "Matrix.h"
template <> template <> void MatrixOf<float>::Transpose(MatrixOf<float> *r) {
void MatrixOf<float>::Transpose(MatrixOf<float>* r) {
// Check dimensions first // Check dimensions first
// We dont care about the rows and cols (we overwrite them) // We dont care about the rows and cols (we overwrite them)
// but the data size should be equal to avoid problems // but the data size should be equal to avoid problems
@ -23,9 +22,8 @@ void MatrixOf<float>::Transpose(MatrixOf<float>* r) {
} }
template <> template <>
void MatrixOf<float>::Multiply(MatrixOf<float>* m1, void MatrixOf<float>::Multiply(const MatrixOf<float> *m1, MatrixOf<float> *m2,
MatrixOf<float>* m2, MatrixOf<float> *r) {
MatrixOf<float>* r) {
for (unsigned int rowIx1 = 0; rowIx1 < m1->rows; rowIx1++) { for (unsigned int rowIx1 = 0; rowIx1 < m1->rows; rowIx1++) {
for (unsigned int colIx2 = 0; colIx2 < m2->cols; colIx2++) { for (unsigned int colIx2 = 0; colIx2 < m2->cols; colIx2++) {
unsigned int rDataIx = colIx2 * m2->cols + rowIx1; unsigned int rDataIx = colIx2 * m2->cols + rowIx1;
@ -40,15 +38,15 @@ void MatrixOf<float>::Multiply(MatrixOf<float>* m1,
} }
template <> template <>
void MatrixOf<float>::Multiply(MatrixOf<float>* m2, MatrixOf<float>* r) { void MatrixOf<float>::Multiply(MatrixOf<float> *m2, MatrixOf<float> *r) {
Multiply(this, m2, r); Multiply(this, m2, r);
} }
template <> template <>
Vector3 MatrixOf<float>::Multiply(MatrixOf<float>* m, Vector3 v) { Vector3 MatrixOf<float>::Multiply(const MatrixOf<float> *m, Vector3 v) {
float* vData = new float[3]{v.x, v.y, v.z}; float *vData = new float[3]{v.x, v.y, v.z};
MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData); MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData);
float* rData = new float[3]{}; float *rData = new float[3]{};
MatrixOf<float> r_m = MatrixOf<float>(3, 1, rData); MatrixOf<float> r_m = MatrixOf<float>(3, 1, rData);
Multiply(m, &v_m, &r_m); Multiply(m, &v_m, &r_m);
@ -59,18 +57,25 @@ Vector3 MatrixOf<float>::Multiply(MatrixOf<float>* m, Vector3 v) {
return r; return r;
} }
template <> template <typename T> Vector3 MatrixOf<T>::operator*(const Vector3 v) const {
float MatrixOf<float>::Get(unsigned int rowIx, unsigned int colIx) { float *vData = new float[3]{v.x, v.y, v.z};
MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData);
float *rData = new float[3]{};
MatrixOf<float> r_m = MatrixOf<float>(3, 1, rData);
Multiply(this, &v_m, &r_m);
Vector3 r = Vector3(r_m.data[0], r_m.data[1], r_m.data[2]);
delete[] vData;
delete[] rData;
return r;
}
template <> float MatrixOf<float>::Get(unsigned int rowIx, unsigned int colIx) {
unsigned int dataIx = rowIx * this->cols + colIx; unsigned int dataIx = rowIx * this->cols + colIx;
return this->data[dataIx]; return this->data[dataIx];
} }
template <> template <> unsigned int MatrixOf<float>::RowCount() { return rows; }
unsigned int MatrixOf<float>::RowCount() {
return rows;
}
template <> template <> unsigned int MatrixOf<float>::ColCount() { return cols; }
unsigned int MatrixOf<float>::ColCount() {
return cols;
}

22
Matrix.h
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@ -4,30 +4,30 @@
#include "Vector3.h" #include "Vector3.h"
/// @brief Single precision float matrix /// @brief Single precision float matrix
template <typename T> template <typename T> class MatrixOf {
class MatrixOf { public:
public: MatrixOf(unsigned int rows, unsigned int cols, T *data)
MatrixOf(unsigned int rows, unsigned int cols, T* data)
: rows(rows), cols(cols), data(data) {} : rows(rows), cols(cols), data(data) {}
MatrixOf(Vector3 v); // creates a 3,1 matrix // MatrixOf(Vector3 v); // creates a 3,1 matrix
/// @brief Transpose with result in matrix m /// @brief Transpose with result in matrix m
/// @param r The matrix in which the transposed matrix is stored /// @param r The matrix in which the transposed matrix is stored
void Transpose(MatrixOf<T>* r); void Transpose(MatrixOf<T> *r);
static void Multiply(MatrixOf<T>* m1, MatrixOf<T>* m2, MatrixOf<T>* r); static void Multiply(const MatrixOf<T> *m1, MatrixOf<T> *m2, MatrixOf<T> *r);
void Multiply(MatrixOf<T>* m, MatrixOf<T>* r); void Multiply(MatrixOf<T> *m, MatrixOf<T> *r);
static Vector3 Multiply(MatrixOf<T>* m, Vector3 v); static Vector3 Multiply(const MatrixOf<T> *m, Vector3 v);
Vector3 operator*(const Vector3 v) const;
T Get(unsigned int rowIx, unsigned int colIx); T Get(unsigned int rowIx, unsigned int colIx);
unsigned int RowCount(); unsigned int RowCount();
unsigned int ColCount(); unsigned int ColCount();
private: private:
unsigned int rows; unsigned int rows;
unsigned int cols; unsigned int cols;
T* data; T *data;
}; };
#endif #endif