<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; left:-2.1em; margin-bottom:0px; margin-top:0px; } li.menu { list-style-type: none; position:relative; #left:-0.5em; } #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;} #content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; } div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; } div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;} div.topbar { position: absolute; top:0px; left:9em; margin:1em; } </style> <TITLE>Player Manual</TITLE> </HEAD> <body> <div id="sidebar"> <h2 style="text-align:center;"> <a href="index.html"> <img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a> </h2> <div class="box"> <div class=title>Player</div> <ul class=menu> <li class=menu><a href="index.html">Frontpage</a> <li class=menu><a href="modules.html">Contents</a> </ul> </div> <div class="box"> <div class=title>User</div> <ul class=menu> <li class=menu><a href="install.html">Installation</a> <li class=menu><a href="start.html">Quick start</a> <li class=menu><a href="supported_hardware.html">Supported devices</a> <li class=menu><a href="group__tutorials.html">Tutorials</a> <li class=menu><a href="group__utils.html">Utilities</a> <li class=menu><a href="group__clientlibs.html">Client libraries</a> <li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a> <li class=menu><a href="help.html">Help</a> </ul> </div> <div class=box> <div class="title">Developer</div> <ul class=menu> <li class=menu><a href="architecture.html">Architecture</a> <li class=menu><a href="group__libplayercore.html">libplayercore</a> <ul class=menu1> <li class=menu><a href="group__interfaces.html">interfaces</a></li> </ul> <li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a> <ul class=menu1> <li class=menu><a href="group__drivers.html">drivers</a></li> </ul> <li class=menu><a href="group__libplayercommon.html">libplayercommon</a> <li class=menu><a href="group__libplayerutils.html">libplayerutils</a> <li class=menu><a href="group__libplayersd.html">libplayersd</a> <li class=menu><a href="group__libplayertcp.html">libplayertcp</a> <li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a> <li class=menu><a href="todo.html">TODO</a> </ul> </div> <div class=box> <!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> --> <div class="title">Online</div> <a href="http://playerstage.sourceforge.net">Homepage</a><br> <a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br> <a href="http://sourceforge.net/projects/playerstage">Project</a><br> <a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br> <a href="http://sourceforge.net/mail/?group_id=42445">Help</a> </div> </div> <div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>sp_matrix.h</h1> </div> </div> <div class="contents"> <div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> <a name="l00002"></a>00002 <span class="comment"> J. Neira</span> <a name="l00003"></a>00003 <span class="comment"> J. A. Castellanos</span> <a name="l00004"></a>00004 <span class="comment"> Robotics and Real Time Group</span> <a name="l00005"></a>00005 <span class="comment"> University of Zaragoza</span> <a name="l00006"></a>00006 <span class="comment"> </span> <a name="l00007"></a>00007 <span class="comment"> sp_matrix.h</span> <a name="l00008"></a>00008 <span class="comment"> Implements basic MATRIX operations</span> <a name="l00009"></a>00009 <span class="comment">*/</span> <a name="l00010"></a>00010 <span class="comment">/*</span> <a name="l00011"></a>00011 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span> <a name="l00012"></a>00012 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00013"></a>00013 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00014"></a>00014 <span class="comment"> * (at your option) any later version.</span> <a name="l00015"></a>00015 <span class="comment"> *</span> <a name="l00016"></a>00016 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00019"></a>00019 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00020"></a>00020 <span class="comment"> *</span> <a name="l00021"></a>00021 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00022"></a>00022 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00023"></a>00023 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00024"></a>00024 <span class="comment"> *</span> <a name="l00025"></a>00025 <span class="comment"> */</span> <a name="l00026"></a>00026 <a name="l00027"></a>00027 <span class="preprocessor">#ifndef _SP_MATRIX_H</span> <a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#define _SP_MATRIX_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span> <a name="l00030"></a>00030 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00031"></a>00031 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> { <a name="l00032"></a>00032 <span class="preprocessor">#endif</span> <a name="l00033"></a>00033 <span class="preprocessor"></span> <a name="l00034"></a>00034 <span class="preprocessor">#define MAX_ROWS (7)</span> <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define MAX_COLS (7)</span> <a name="l00036"></a>00036 <span class="preprocessor"></span> <a name="l00037"></a><a class="code" href="structMATRIX.html">00037</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00038"></a>00038 <span class="keywordtype">int</span> rows; <a name="l00039"></a>00039 <span class="keywordtype">int</span> cols; <a name="l00040"></a>00040 <span class="keywordtype">float</span> data[MAX_ROWS][MAX_COLS]; <a name="l00041"></a>00041 } <a class="code" href="structMATRIX.html">MATRIX</a>; <a name="l00042"></a>00042 <a name="l00043"></a><a class="code" href="structVECTOR.html">00043</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00044"></a>00044 <span class="keywordtype">int</span> elements; <a name="l00045"></a>00045 <span class="keywordtype">float</span> data[MAX_ROWS]; <a name="l00046"></a>00046 } <a class="code" href="structVECTOR.html">VECTOR</a>; <a name="l00047"></a>00047 <a name="l00048"></a>00048 <span class="preprocessor">#define DOF (3)</span> <a name="l00049"></a>00049 <span class="preprocessor"></span> <a name="l00050"></a><a class="code" href="structBMAT.html">00050</a> <span class="keyword">typedef</span> <span class="keyword">struct </span>{ <a name="l00051"></a>00051 <span class="keywordtype">int</span> mat[DOF]; <a name="l00052"></a>00052 <span class="keywordtype">int</span> range; <a name="l00053"></a>00053 } <a class="code" href="structBMAT.html">BMAT</a>; <a name="l00054"></a>00054 <a name="l00055"></a>00055 <span class="preprocessor">#define MROWS(m) ((m).rows)</span> <a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">#define MCOLS(m) ((m).cols)</span> <a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#define MDATA(m,i,j) ((m).data[i][j])</span> <a name="l00058"></a>00058 <span class="preprocessor"></span> <a name="l00059"></a>00059 <span class="preprocessor">#define VELEMENTS(v) ((v).elements)</span> <a name="l00060"></a>00060 <span class="preprocessor"></span><span class="preprocessor">#define VDATA(v,i) ((v).data[i])</span> <a name="l00061"></a>00061 <span class="preprocessor"></span> <a name="l00062"></a>00062 <span class="preprocessor">#define M_SQUARE(m) ((m).rows == (m).cols)</span> <a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define M_COMPAT_DIM(m, n) ((m).cols == (n).rows)</span> <a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define M_EQUAL_DIM(m, n) (((m).rows == (n).rows) && ((m).cols == (n).cols))</span> <a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#define V_EQUAL_DIM(v, w) (((v).elements == (w).elements))</span> <a name="l00066"></a>00066 <span class="preprocessor"></span><span class="preprocessor">#define MV_COMPAT_DIM(m, v) ((m).cols == (v).elements)</span> <a name="l00067"></a>00067 <span class="preprocessor"></span> <a name="l00068"></a>00068 <span class="preprocessor">#define FIRST(b) ((b).mat[0])</span> <a name="l00069"></a>00069 <span class="preprocessor"></span><span class="preprocessor">#define SECOND(b) ((b).mat[1])</span> <a name="l00070"></a>00070 <span class="preprocessor"></span><span class="preprocessor">#define THIRD(b) ((b).mat[2])</span> <a name="l00071"></a>00071 <span class="preprocessor"></span><span class="preprocessor">#define RANGE(b) ((b).range)</span> <a name="l00072"></a>00072 <span class="preprocessor"></span> <a name="l00073"></a>00073 <span class="preprocessor">#define SQUARE(x) ((x)*(x))</span> <a name="l00074"></a>00074 <span class="preprocessor"></span> <a name="l00075"></a>00075 <a class="code" href="structMATRIX.html">MATRIX</a> create_matrix (<span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols); <a name="l00076"></a>00076 <span class="keywordtype">void</span> initialize_matrix (<a class="code" href="structMATRIX.html">MATRIX</a> *m, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols); <a name="l00077"></a>00077 <span class="keywordtype">void</span> diagonal_matrix (<a class="code" href="structMATRIX.html">MATRIX</a> *m, <span class="keywordtype">int</span> dim, <span class="keywordtype">float</span> el1, <span class="keywordtype">float</span> el2, <span class="keywordtype">float</span> el3); <a name="l00078"></a>00078 <span class="keywordtype">void</span> print_matrix (<span class="keywordtype">char</span> *message, <a class="code" href="structMATRIX.html">MATRIX</a> <span class="keyword">const</span> *m); <a name="l00079"></a>00079 <a class="code" href="structVECTOR.html">VECTOR</a> create_vector (<span class="keywordtype">int</span> elements); <a name="l00080"></a>00080 <span class="keywordtype">void</span> initialize_vector (<a class="code" href="structVECTOR.html">VECTOR</a> *v, <span class="keywordtype">int</span> elements); <a name="l00081"></a>00081 <span class="keywordtype">void</span> print_vector (<span class="keywordtype">char</span> *message, <a class="code" href="structVECTOR.html">VECTOR</a> <span class="keyword">const</span> *v); <a name="l00082"></a>00082 <span class="keywordtype">float</span> cross_product (<a class="code" href="structMATRIX.html">MATRIX</a> <span class="keyword">const</span> *m, <span class="keywordtype">int</span> f1, <span class="keywordtype">int</span> c1, <span class="keywordtype">int</span> f2, <span class="keywordtype">int</span> c2); <a name="l00083"></a>00083 <span class="keywordtype">int</span> determinant (<a class="code" href="structMATRIX.html">MATRIX</a> <span class="keyword">const</span> *m, <span class="keywordtype">float</span> *result); <a name="l00084"></a>00084 <span class="keywordtype">int</span> inverse_matrix (<a class="code" href="structMATRIX.html">MATRIX</a> <span class="keyword">const</span> *m, <a class="code" href="structMATRIX.html">MATRIX</a> *n); <a name="l00085"></a>00085 <span class="keywordtype">int</span> multiply_matrix_vector (<a class="code" href="structMATRIX.html">MATRIX</a> <span class="keyword">const</span> *m, <a class="code" href="structVECTOR.html">VECTOR</a> <span class="keyword">const</span> *v, <a class="code" href="structVECTOR.html">VECTOR</a> *r); <a name="l00086"></a>00086 <a name="l00087"></a>00087 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00088"></a>00088 <span class="preprocessor"></span>} <a name="l00089"></a>00089 <span class="preprocessor">#endif</span> <a name="l00090"></a>00090 <span class="preprocessor"></span> <a name="l00091"></a>00091 <span class="preprocessor">#endif</span> <a name="l00092"></a>00092 <span class="preprocessor"></span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>