Changeset 5662 in orxonox.OLD for trunk/src/lib/math

Timestamp:

Nov 21, 2005, 3:10:20 AM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: created a simple matrix class

Location:

trunk/src/lib/math

Files:

• matrix.cc (modified) (6 diffs)
• matrix.h (modified) (1 diff)
• vector.cc (modified) (1 diff)

trunk/src/lib/math/matrix.cc

@@ -2 +2 @@
 #include <stdio.h>
 #include <math.h>
+#include "matrix.h"
 
-void eigVl(float mat[3][3])
+
+class Vector
+{
+  public:
+    Vector (float x, float y, float z) { this->x=x; this->y = y; this->z = z; };
+  float x, y, z;
+  inline Vector cross (const Vector& v) const { return Vector(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x ); }
+};
+
+void Matrix::eigVl(const Matrix& mat)
 {
 
@@ -15 +25 @@
 
   // c[0] is the determinante of mat
-  c[0] = mat[0][0] * mat[1][1] * mat[2][2] +
-      2* mat[0][1] * mat[0][2] * mat[1][2] -
-      mat[0][0] * mat[1][2] * mat[1][2] -
-      mat[1][1] * mat[0][2] * mat[0][2] -
-      mat[2][2] * mat[0][1] * mat[0][1];
+  c[0] = this->m11 * this->m22 * this->m33 +
+      2* this->m12 * this->m13 * this->m23 -
+      this->m11 * this->m23 * this->m23 -
+      this->m22 * this->m13 * this->m13 -
+      this->m33 * this->m12 * this->m12;
 
   // c[1] is the trace of a
-  c[1] = mat[0][0] * mat[1][1] -
-      mat[0][1] * mat[0][1] +
-      mat[0][0] * mat[2][2] -
-      mat[0][2] * mat[0][2] +
-      mat[1][1] * mat[2][2] -
-      mat[1][2] * mat[1][2];
+  c[1] = this->m11 * this->m22 -
+      this->m12 * this->m12 +
+      this->m11 * this->m33 -
+      this->m13 * this->m13 +
+      this->m22 * this->m33 -
+      this->m23 * this->m23;
 
   // c[2] is the sum of the diagonal elements
-  c[2] = mat[0][0] +
-      mat[1][1] +
-      mat[2][2];
+  c[2] = this->m11 +
+      this->m22 +
+      this->m33;
 
 
@@ -41 +51 @@
   float Q = b*b/4.0 + a*a*a/27.0;
 
+  // 3 distinct Roots
   if (Q < 0)
   {
@@ -54 +65 @@
 
   }
+  // 2 Distinct Roots
   else if (Q == 0)
   {
@@ -60 +72 @@
     eigValue[2] = c[2]/3.0 + 2* pow(b/2.0, 1.0/3.0);
   }
+  // 1 Root (not calculating anything.)
   else if (Q > 0)
   {
@@ -66 +79 @@
   }
 
-  printf("input: | %f | %f | %f |\n", mat[0][0], mat[0][1], mat[0][2] );
-  printf("       | %f | %f | %f |\n", mat[1][0], mat[1][1], mat[1][2] );
-  printf("       | %f | %f | %f |\n", mat[2][0], mat[2][1], mat[2][2] );
+  Matrix M;
+
+  float u11, u12, u13, u22, u23, u33;
+
+  this->debug();
 
   printf("%f %f %f\n", eigValue[0], eigValue[1], eigValue[2]);
 
+}
 
 
+void Matrix::debug() const
+{
+  printf("input: | %f | %f | %f |\n", this->m11, this->m12, this->m13 );
+  printf("       | %f | %f | %f |\n", this->m21, this->m22, this->m23 );
+  printf("       | %f | %f | %f |\n", this->m31, this->m32, this->m33 );
 
 }
+

trunk/src/lib/math/matrix.h

@@ -1 @@
-void eigVl(float mat[3][3]);
+
+
+
+class Matrix
+{
+  public:
+    float m11;    float m12;     float m13;
+    float m21;    float m22;     float m23;
+    float m31;    float m32;     float m33;
+
+    void eigVl(const Matrix& matrix);
+    void debug() const;
+};

trunk/src/lib/math/vector.cc

@@ -22 +22 @@
 
 #include "vector.h"
+#ifdef DEBUG
 #include "debug.h"
+#else
+#define PRINT(x) printf
+#endif
 
 using namespace std;