sp_matrix.h
/*
J. Neira
J. A. Castellanos
Robotics and Real Time Group
University of Zaragoza
sp_matrix.h
Implements basic MATRIX operations
*/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef _SP_MATRIX_H
#define _SP_MATRIX_H
#ifdef __cplusplus
extern "C" {
#endif
#define MAX_ROWS (7)
#define MAX_COLS (7)
typedef struct {
int rows;
int cols;
float data[MAX_ROWS][MAX_COLS];
} MATRIX;
typedef struct {
int elements;
float data[MAX_ROWS];
} VECTOR;
#define DOF (3)
typedef struct {
int mat[DOF];
int range;
} BMAT;
#define MROWS(m) ((m).rows)
#define MCOLS(m) ((m).cols)
#define MDATA(m,i,j) ((m).data[i][j])
#define VELEMENTS(v) ((v).elements)
#define VDATA(v,i) ((v).data[i])
#define M_SQUARE(m) ((m).rows == (m).cols)
#define M_COMPAT_DIM(m, n) ((m).cols == (n).rows)
#define M_EQUAL_DIM(m, n) (((m).rows == (n).rows) && ((m).cols == (n).cols))
#define V_EQUAL_DIM(v, w) (((v).elements == (w).elements))
#define MV_COMPAT_DIM(m, v) ((m).cols == (v).elements)
#define FIRST(b) ((b).mat[0])
#define SECOND(b) ((b).mat[1])
#define THIRD(b) ((b).mat[2])
#define RANGE(b) ((b).range)
#define SQUARE(x) ((x)*(x))
MATRIX create_matrix (int rows, int cols);
void initialize_matrix (MATRIX *m, int rows, int cols);
void diagonal_matrix (MATRIX *m, int dim, float el1, float el2, float el3);
void print_matrix (char *message, MATRIX const *m);
VECTOR create_vector (int elements);
void initialize_vector (VECTOR *v, int elements);
void print_vector (char *message, VECTOR const *v);
float cross_product (MATRIX const *m, int f1, int c1, int f2, int c2);
int determinant (MATRIX const *m, float *result);
int inverse_matrix (MATRIX const *m, MATRIX *n);
int multiply_matrix_vector (MATRIX const *m, VECTOR const *v, VECTOR *r);
#ifdef __cplusplus
}
#endif
#endif
BMAT
Definition: sp_matrix.h:50
MATRIX
Definition: sp_matrix.h:37
VECTOR
Definition: sp_matrix.h:43

Last updated 12 September 2005 21:38:45