Matrix math implementation. More...

#include <Matrix.hpp>

Inheritance diagram for clockwerk::Matrix< T, R, C >:

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Public Member Functions
	Matrix ()
	Default constructor to initialize a matrix to all zeroes for ease of use.

	Matrix (T elements)
	Constructor to initialize a matrix with all the same element.

	Matrix (const T(&initial)[R][C])
	Constructor for Matrix class with initialization. Initializes matrix to values passed in via array.

	Matrix (const Matrix< T, R, C > &initial)
	Copy constructor for Matrix class. Copies data from matrix object to the current instance.

	Matrix (const std::array< std::array< T, C >, R > &initial)
	Array constructor for the matrix class. Initializes from std::array.

	~Matrix ()
	Destructor – doesn't do anything because we don't dynamically allocate.

void	dump () const
	Function to dump information on matrix.

std::string	str () const
	Function to dump information on matrix to string.

int	set (const unsigned int &row, const unsigned int &col, const T &value)
	Function to set a single value in the matrix.

int	get (const unsigned int &row, const unsigned int &col, T &result) const
	Function to get a single value in the matrix.

void	setFromArray (const T *start_ptr)
	Function to set the values of the matrix row-wise.

void	getAsArray (T *start_ptr) const
	Function to get the values of the matrix row-wise.

T	get (const unsigned int &row, const unsigned int &col) const
	Function to get a single value in the matrix.

void	getCopy (Matrix< T, R, C > &result) const
	Function to get a copy of the matrix.

Matrix< T, R, C > &	operator= (const Matrix< T, R, C > &other)
	Equals operator overload for matrix.

T *	operator[] (unsigned int idx)
	Function to return a matrix row or vector value.

std::pair< unsigned int, unsigned int >	size ()
	Function to get the size of the matrix.

void	max (T &result, std::pair< unsigned int, unsigned int > &index) const
	Function to return the maximum value in the matrix.

void	min (T &result, std::pair< unsigned int, unsigned int > &index) const
	Function to return the minimum value in the matrix.

int	det (T &result) const
	Function to return the determinant of the matrix.

int	inverse (Matrix< T, R, C > &result) const
	Function to return the inverse of the matrix.

Matrix< T, R, C >	inverse () const

void	transpose (Matrix< T, C, R > &result) const
	Function to return the transpose of the matrix.

Matrix< T, C, R >	transpose () const

int	trace (T &result) const
	Function to return the trace of the matrix.

void	setToZeros ()
	Function to set all elements of the matrix to zero.

int	identity ()
	Function to set matrix to identity, if it is a square matrix.

int	eye ()

Public Attributes
std::array< std::array< T, C >, R >	values
	The actual values held by the matrix – a two dimensional array of values indexed as (row, column). NOTE: Public for ease of access and speed (no need to use setter/getter), and functions in Matrix and Safemath libraries are tested safe. Behavior using matrices outside of clockwerk libraries should use setter/getter, rather than direct access, for safety.

Protected Member Functions
int	_checkLookupBoundaries (const unsigned int &start_r, const unsigned int &end_r, const unsigned int &start_c, const unsigned int &end_c) const
	Function to check, given a set of submatrix boundaries, that those boundaries are valid for the current matrix.

int	_LUPDecompose (T *A[R], unsigned int P[R+1]) const
	Function to take a 2-d matrix represented by A and decompose it into LU form.

Detailed Description

template<typename T, unsigned int R, unsigned int C>
class clockwerk::Matrix< T, R, C >

Matrix math implementation.

This file defines a base class for computational matrix math. It is designed for use in real-time, embedded mode or with simulation. As such, it contains certain limitations on dynamic allocation to make it real-time compliant.

Note: The naming convention observed for matrix math is as follows:

Capital letters represent matrices
Lowercase letters represent scalars
All vectors are 1-dimensional matrices for the purpose of math
Pass by reference return values are all named "result"
The letter used in math indicates the order of operations - A/a comes first, then B/b. A/a or B/b always represent the "other" value in an operation

Important: The matrix class is templated such that it can be used with a generic type T, but should only be used on native types, as other implementations could result in undefined behavior.

TODO: Flattening and flattened constructor

Member Function Documentation

◆ _LUPDecompose()

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::_LUPDecompose	(	T *	A[R],
		unsigned int	P[R+1]
	)		const

protected

Function to take a 2-d matrix represented by A and decompose it into LU form.

Parameters

A	A 2-d matrix represented as a double pointer After ops A contains a copy of both matrices L-E and U as A=(L-E)+U such that PA=LU.
P	The permutation matrix to hold info on matrix changes

Returns: Error code corresponding to codes in clockwerkerrors.h

Note: Code borrowed/updated from sample C code on wikipedia here: https://en.wikipedia.org/wiki/LU_decomposition

◆ det()

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::det ( T & result ) const

Function to return the determinant of the matrix.

Operations to return important matrix information

Returns: Integer value corresponding to error codes in clockwerkerrrors.h

◆ get() [1/2]

template<typename T , unsigned int R, unsigned int C>

T clockwerk::Matrix< T, R, C >::get	(	const unsigned int &	row,
		const unsigned int &	col
	)		const

Function to get a single value in the matrix.

Parameters

row	The row index
col	The column index

Returns: Matrix value at index

Note: Does not bounds check and is unsafe for embedded operations

◆ get() [2/2]

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::get	(	const unsigned int &	row,
		const unsigned int &	col,
		T &	result
	)		const

Function to get a single value in the matrix.

Parameters

row	The row index
col	The column index
value	PBR return of the value in the matrix

Returns: Integer value corresponding to error codes in clockwerkerrrors.h

◆ getAsArray()

template<typename T , unsigned int R, unsigned int C>

void clockwerk::Matrix< T, R, C >::getAsArray ( T * start_ptr ) const

Function to get the values of the matrix row-wise.

Parameters

start_ptr The data address at which write should begin.

Note: start_ptr must represent an array or similar type of at least R*C values; Not protected. May segfault if not used properly; The matrix [1 2; 3 4] would output as an array [1 2 3 4]

◆ getCopy()

template<typename T , unsigned int R, unsigned int C>

void clockwerk::Matrix< T, R, C >::getCopy ( Matrix< T, R, C > & result ) const

Function to get a copy of the matrix.

Parameters

result PBR return of a copy of this matrix

◆ identity()

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::identity ( )

Function to set matrix to identity, if it is a square matrix.

Returns: Error code corresponding to success/failure

◆ inverse()

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::inverse ( Matrix< T, R, C > & result ) const

Function to return the inverse of the matrix.

Parameters

result PBR return of matrix inverse

Returns: Integer value corresponding to error codes in clockwerkerrrors.h

◆ max()

template<typename T , unsigned int R, unsigned int C>

void clockwerk::Matrix< T, R, C >::max	(	T &	result,
		std::pair< unsigned int, unsigned int > &	index
	)		const

Function to return the maximum value in the matrix.

Parameters

result PBR return of maximum value

◆ min()

template<typename T , unsigned int R, unsigned int C>

void clockwerk::Matrix< T, R, C >::min	(	T &	result,
		std::pair< unsigned int, unsigned int > &	index
	)		const

Function to return the minimum value in the matrix.

Parameters

result PBR return of minimum value

◆ operator[]()

template<typename T , unsigned int R, unsigned int C>

T * clockwerk::Matrix< T, R, C >::operator[] ( unsigned int idx )

Function to return a matrix row or vector value.

Parameters

idx	The row index to return

Returns: A pointer to the row element of the matrix. Nullptr if out of range

◆ set()

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::set	(	const unsigned int &	row,
		const unsigned int &	col,
		const T &	value
	)

Function to set a single value in the matrix.

Getters and setters

Parameters

row	The row index
col	The column index
value	The value to set the matrix to

Returns: Integer value corresponding to error codes in clockwerkerrrors.h

◆ setFromArray()

template<typename T , unsigned int R, unsigned int C>

void clockwerk::Matrix< T, R, C >::setFromArray ( const T * start_ptr )

Function to set the values of the matrix row-wise.

Parameters

start_ptr The data address at which read should begin.

Note: start_ptr must represent an array or similar type of at least R*C values; Not protected. May segfault if not used properly; The array [1 2 3 4] would read into a matrix as [1 2; 3 4]

◆ size()

template<typename T , unsigned int R, unsigned int C>

std::pair< unsigned int, unsigned int > clockwerk::Matrix< T, R, C >::size ( )

inline

Function to get the size of the matrix.

Operations to get matrix info

◆ trace()

template<typename T , unsigned int R, unsigned int C>

int clockwerk::Matrix< T, R, C >::trace ( T & result ) const

Function to return the trace of the matrix.

Parameters

result PBR return of matrix trace

Returns: Integer value corresponding to error codes in clockwerkerrrors.h

◆ transpose()

template<typename T , unsigned int R, unsigned int C>

void clockwerk::Matrix< T, R, C >::transpose ( Matrix< T, C, R > & result ) const

Function to return the transpose of the matrix.

Parameters

result PBR return of matrix transpose

Note: Overloaded for return as well

The documentation for this class was generated from the following file:

/home/mickey/modelspace/clockwerk/src/core/Matrix.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ _LUPDecompose()

◆ det()

Operations to return important matrix information

◆ get() [1/2]

◆ get() [2/2]

◆ getAsArray()

◆ getCopy()

◆ identity()

◆ inverse()

◆ max()

◆ min()

◆ operator[]()

◆ set()

Getters and setters

◆ setFromArray()

◆ size()

Operations to get matrix info

◆ trace()

◆ transpose()