xsmatrix.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef XSMATRIX_H
#define XSMATRIX_H

#include "xsmath.h"
#include <stddef.h>

struct XsMatrix;
struct XsEuler;
struct XsQuaternion;

#ifdef __cplusplus
extern "C" {
#else
#define XSMATRIX_INITIALIZER           \
        {                                  \
                nullptr, 0, 0, 0, XSDF_Managed \
        }
typedef struct XsMatrix XsMatrix;
#endif

XSTYPES_DLL_API void XsMatrix_ref(
        XsMatrix* thisPtr, XsSize rows, XsSize cols, XsSize stride, XsReal* buffer,
        XsDataFlags flags);
XSTYPES_DLL_API void XsMatrix_construct(
        XsMatrix* thisPtr, XsSize rows, XsSize cols, XsSize stride,
        const XsReal* src, XsSize srcStride);
XSTYPES_DLL_API void XsMatrix_assign(
        XsMatrix* thisPtr, XsSize rows, XsSize cols, XsSize stride,
        const XsReal* src, XsSize srcStride);
XSTYPES_DLL_API void XsMatrix_destruct(XsMatrix* thisPtr);
XSTYPES_DLL_API void XsMatrix_copy(XsMatrix* copy, XsMatrix const* src);
XSTYPES_DLL_API void XsMatrix_setZero(XsMatrix* thisPtr);
XSTYPES_DLL_API int XsMatrix_empty(const XsMatrix* thisPtr);
XSTYPES_DLL_API void XsMatrix_multiplyScalar(
        const XsMatrix* thisPtr, XsReal scalar, XsMatrix* dest);
XSTYPES_DLL_API XsSize
        XsMatrix_offset(const XsMatrix* thisPtr, XsSize row, XsSize column);
XSTYPES_DLL_API XsReal
        XsMatrix_value(const XsMatrix* thisPtr, XsSize row, XsSize column);
XSTYPES_DLL_API void XsMatrix_setValue(
        XsMatrix* thisPtr, XsSize row, XsSize column, XsReal value);
XSTYPES_DLL_API int XsMatrix_dimensionsMatch(
        const XsMatrix* thisPtr, XsSize rows, XsSize columns);
XSTYPES_DLL_API void XsMatrix_fromQuaternion(
        XsMatrix* thisPtr, const struct XsQuaternion* quat);
XSTYPES_DLL_API void XsMatrix_swap(XsMatrix* a, XsMatrix* b);

#define XsMatrix_offsetM(thisPtr, row, column) \
        (thisPtr->m_stride * row + column)

#ifdef __cplusplus
}  // extern "C"
#endif
#ifndef XSENS_NO_PACK
#pragma pack(push, 1)
#endif
struct XsMatrix
{
        XSCPPPROTECTED
        /** Contained data */
        XsReal* const m_data;
        /** Number of rows in the matrix */
        const XsSize m_rows;
        /** Number of columns in the matrix */
        const XsSize m_cols;
        /** Number of items per row in memory (usually equal to cols but not always)
         */
        const XsSize m_stride;
        /** Flags for data management */
        const int m_flags;

#ifdef __cplusplus
        //! \brief Return the data management flags of the matrix.
        inline int flags() { return m_flags; }
   public:
        /*! \brief Initialize an XsMatrix object with the specified number of \a
         * rows and \a cols */
        inline explicit XsMatrix(
                XsSize rows = 0, XsSize cols = 0, XsSize strde = 0,
                const XsReal* dat = 0)
                : m_data(0), m_rows(0), m_cols(0), m_stride(0), m_flags(0)
        {
                if (rows && cols)
                        XsMatrix_construct(this, rows, cols, strde ? strde : cols, dat, 0);
        }

        /*! \brief Initialize an XsMatrix object from the \a other XsMatrix */
        inline XsMatrix(const XsMatrix& other)
                : m_data(0), m_rows(0), m_cols(0), m_stride(0), m_flags(0)
        {
                XsMatrix_copy(this, &other);
        }

        /*! \brief Initialize an XsMatrix object that references the data passed in
         * \a ref. \a rows, \a cols and \a stride can be used to specify the layout
         * of the data */
        inline explicit XsMatrix(
                XsReal* ref, XsSize rows, XsSize cols, XsSize stride,
                XsDataFlags flags = XSDF_None)
                : m_data(ref),
                  m_rows(rows),
                  m_cols(cols),
                  m_stride(stride),
                  m_flags(flags)
        {
        }

        /*! \brief Initialize a copy of \a other in an XsMatrix object that
         * references the data passed in \a ref. \a rows, \a cols and \a stride can
         * be used to specify the layout of the data */
        inline explicit XsMatrix(
                const XsMatrix& other, XsReal* ref, XsSize rows, XsSize cols,
                XsSize stride, XsDataFlags flags = XSDF_None)
                : m_data(ref),
                  m_rows(rows),
                  m_cols(cols),
                  m_stride(stride),
                  m_flags(flags)
        {
                XsMatrix_copy(this, &other);
        }

        //! \brief \copybrief XsMatrix_fromQuaternion
        inline explicit XsMatrix(const XsQuaternion& quat)
                : m_data(0), m_rows(0), m_cols(0), m_stride(0), m_flags(0)
        {
                XsMatrix_fromQuaternion(this, &quat);
        }

        //! \copydoc XsMatrix_destruct
        inline ~XsMatrix() { XsMatrix_destruct(this); }
        /*! \brief Resize the matrix to the specified number of \a rows and \a cols,
         * destroying its current contents */
        inline void setSize(XsSize rows, XsSize cols, XsSize stride = 0)
        {
                XsMatrix_assign(this, rows, cols, stride, 0, 0);
        }

        /*! \brief \copybrief XsMatrix_copy */
        inline XsMatrix& operator=(const XsMatrix& other)
        {
                XsMatrix_copy(this, &other);
                return *this;
        }

        //! \brief \copybrief XsMatrix_empty
        inline bool empty() const { return 0 != XsMatrix_empty(this); }
        //! \brief \copybrief XsMatrix_setZero
        inline void setZero() { XsMatrix_setZero(this); }
        //! \copydoc XsMatrix_offset */
        inline XsSize offset(XsSize row, XsSize column) const
        {
                return XsMatrix_offset(this, row, column);
        }

        /*! \brief Returns the value at \a row and \a column in the matrix */
        inline XsReal value(XsSize row, XsSize column) const
        {
                return m_data[XsMatrix_offset(this, row, column)];
        }

        /*! \brief Sets the \a value at \a row and \a column in the matrix */
        inline void setValue(XsSize row, XsSize column, XsReal value)
        {
                m_data[XsMatrix_offsetM(this, row, column)] = value;
        }

        /*! \brief Returns a pointer to the data in \a row */
        inline const XsReal* operator[](XsSize row) const
        {
                return &m_data[XsMatrix_offsetM(this, row, 0)];
        }

        /*! \brief Returns a reference to the data in \a row */
        inline XsReal* operator[](XsSize row)
        {
                return &m_data[XsMatrix_offsetM(this, row, 0)];
        }

        /*! \brief \copybrief XsMatrix_multiplyScalar */
        inline XsMatrix operator*(XsReal scalar) const
        {
                XsMatrix tmp(m_rows, m_cols);
                XsMatrix_multiplyScalar(this, scalar, &tmp);
                return tmp;
        }

        /*! \brief \copybrief XsMatrix_fromQuaternion */
        inline XsMatrix& fromQuaternion(const XsQuaternion& quat)
        {
                XsMatrix_fromQuaternion(this, &quat);
                return *this;
        }

        /*! \brief Fill the matrix with zeroes */
        inline void zero()
        {
                for (XsSize r = 0; r < m_rows; ++r)
                        for (XsSize c = 0; c < m_cols; ++c)
                                m_data[XsMatrix_offsetM(this, r, c)] = XsMath_zero;
        }

        /*! \brief Return the number of rows in the matrix */
        inline XsSize rows() const { return m_rows; }
        /*! \brief Return the number of columns in the matrix */
        inline XsSize cols() const { return m_cols; }
        /*! \brief Return the stride of the matrix.
                \details The stride of a matrix is for internal administration. It
           defines the number of items
                in a row in the data buffer. This is always greater than or equal to the
           number of columns.
                Especially for matrices that reference a part of another matrix this may
           differ from the
                cols() value.
                \returns The stride of the matrix.
        */
        inline XsSize stride() const { return m_stride; }
        //! \brief Return a const pointer to the internal data
        inline const XsReal* data() const { return m_data; }
        //! \brief Returns true if \a other is numerically identical to this
        inline bool operator==(const XsMatrix& other) const
        {
                if (this == &other) return true;
                if (m_rows != other.m_rows || m_cols != other.m_cols) return false;
                for (XsSize r = 0; r < m_rows; ++r)
                        for (XsSize c = 0; c < m_cols; ++c)
                                if (m_data[XsMatrix_offsetM(this, r, c)] !=
                                        other.m_data[XsMatrix_offsetM((&other), r, c)])
                                        return false;
                return true;
        }

#endif
};
#ifndef XSENS_NO_PACK
#pragma pack(pop)
#endif

#ifdef __cplusplus
//! \brief Multiplies all values in the matrix \a m by \a scalar
inline XsMatrix operator*(XsReal scalar, const XsMatrix& m)
{
        return (m * scalar);
}
#endif

#endif  // file guard