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

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This commit is contained in:
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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35
Matrix.cpp
View File

@ -1,7 +1,6 @@
#include "Matrix.h"
template <>
void MatrixOf<float>::Transpose(MatrixOf<float>* r) {
template <> void MatrixOf<float>::Transpose(MatrixOf<float> *r) {
// Check dimensions first
// We dont care about the rows and cols (we overwrite them)
// but the data size should be equal to avoid problems
@ -23,8 +22,7 @@ void MatrixOf<float>::Transpose(MatrixOf<float>* r) {
}
template <>
void MatrixOf<float>::Multiply(MatrixOf<float>* m1,
MatrixOf<float>* m2,
void MatrixOf<float>::Multiply(const MatrixOf<float> *m1, MatrixOf<float> *m2,
MatrixOf<float> *r) {
for (unsigned int rowIx1 = 0; rowIx1 < m1->rows; rowIx1++) {
for (unsigned int colIx2 = 0; colIx2 < m2->cols; colIx2++) {
@ -45,7 +43,7 @@ void MatrixOf<float>::Multiply(MatrixOf<float>* m2, MatrixOf<float>* r) {
}
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};
MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData);
float *rData = new float[3]{};
@ -59,18 +57,25 @@ Vector3 MatrixOf<float>::Multiply(MatrixOf<float>* m, Vector3 v) {
return r;
}
template <>
float MatrixOf<float>::Get(unsigned int rowIx, unsigned int colIx) {
template <typename T> Vector3 MatrixOf<T>::operator*(const Vector3 v) const {
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;
return this->data[dataIx];
}
template <>
unsigned int MatrixOf<float>::RowCount() {
return rows;
}
template <> unsigned int MatrixOf<float>::RowCount() { return rows; }
template <>
unsigned int MatrixOf<float>::ColCount() {
return cols;
}
template <> unsigned int MatrixOf<float>::ColCount() { return cols; }

10
Matrix.h
View File

@ -4,21 +4,21 @@
#include "Vector3.h"
/// @brief Single precision float matrix
template <typename T>
class MatrixOf {
template <typename T> class MatrixOf {
public:
MatrixOf(unsigned int rows, unsigned int cols, T *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
/// @param r The matrix in which the transposed matrix is stored
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);
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);
unsigned int RowCount();