.. _program_listing_file_src_tap_algorithms_cmsis_mat.hpp:

Program Listing for File cmsis_mat.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_algorithms_cmsis_mat.hpp>` (``src/tap/algorithms/cmsis_mat.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot 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 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot 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 Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_CMSIS_MAT_HPP_
   #define TAPROOT_CMSIS_MAT_HPP_
   
   #include <array>
   #include <cassert>
   #include <cinttypes>
   #include <iostream>
   
   #include "modm/architecture/utils.hpp"
   
   #include "arm_math.h"
   
   namespace tap::algorithms
   {
   template <uint16_t ROWS, uint16_t COLS>
   struct CMSISMat
   {
       std::array<float, ROWS * COLS> data;
       arm_matrix_instance_f32 matrix;
   
       CMSISMat() : data(), matrix{ROWS, COLS, data.data()} {}
   
       CMSISMat(const float (&initialData)[ROWS * COLS])
       {
           copyData(initialData);
           arm_mat_init_f32(&matrix, ROWS, COLS, data.data());
       }
   
       CMSISMat(const CMSISMat &other) : matrix{ROWS, COLS, data.data()}
       {
           memcpy(&this->data, &other.data, sizeof(this->data));
       }
   
       // Move semantics.
       CMSISMat(CMSISMat &&other)
       {
           this->data = std::move(other.data);
           matrix.numRows = ROWS;
           matrix.numCols = COLS;
           matrix.pData = data.data();
       }
   
       CMSISMat &operator=(const CMSISMat &other)
       {
           memcpy(&this->data, &other.data, sizeof(this->data));
           return *this;
       }
   
       // Move semantics.
       CMSISMat &operator=(CMSISMat &&other)
       {
           this->data = std::move(other.data);
           matrix.numRows = ROWS;
           matrix.numCols = COLS;
           matrix.pData = data.data();
           return *this;
       }
   
       inline void copyData(const float (&other)[ROWS * COLS])
       {
           for (size_t i = 0; i < data.size(); i++)
           {
               data[i] = other[i];
           }
       }
   
       bool constructIdentityMatrix()
       {
           if (ROWS != COLS)
           {
               return false;
           }
   
           for (int i = 0; i < ROWS; i++)
           {
               for (int j = 0; j < COLS; j++)
               {
                   data[i * COLS + j] = (i == j) ? 1 : 0;
               }
           }
   
           return true;
       }
   
       inline CMSISMat<COLS, ROWS> inverse() const
       {
           CMSISMat<COLS, ROWS> ret;
           assert(ARM_MATH_SUCCESS == arm_mat_inverse_f32(&this->matrix, &ret.matrix));
           return ret;
       }
   
       inline CMSISMat<COLS, ROWS> transpose() const
       {
           CMSISMat<COLS, ROWS> ret;
           assert(ARM_MATH_SUCCESS == arm_mat_trans_f32(&this->matrix, &ret.matrix));
           return ret;
       }
   };
   
   /* Begin definitions */
   
   template <uint16_t A_ROWS, uint16_t A_COLS, uint16_t B_ROWS, uint16_t B_COLS>
   inline CMSISMat<A_ROWS, A_COLS> operator+(
       const CMSISMat<A_ROWS, A_COLS> &a,
       const CMSISMat<B_ROWS, B_COLS> &b)
   {
       static_assert(
           A_ROWS == B_ROWS && A_COLS == B_COLS,
           "Invalid size of CMSISMat matricies in operator+");
   
       CMSISMat<A_ROWS, A_COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_add_f32(&a.matrix, &b.matrix, &c.matrix));
       return c;
   }
   
   template <uint16_t A_ROWS, uint16_t A_COLS, uint16_t B_ROWS, uint16_t B_COLS>
   inline CMSISMat<A_ROWS, A_COLS> operator-(
       const CMSISMat<A_ROWS, A_COLS> &a,
       const CMSISMat<B_ROWS, B_COLS> &b)
   {
       static_assert(
           A_ROWS == B_ROWS && A_COLS == B_COLS,
           "Invalid size of CMSISMat matricies in operator-");
   
       CMSISMat<A_ROWS, A_COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_sub_f32(&a.matrix, &b.matrix, &c.matrix));
       return c;
   }
   
   template <uint16_t ROWS, uint16_t COLS>
   inline CMSISMat<ROWS, COLS> operator-(const CMSISMat<ROWS, COLS> &a)
   {
       float scale(-1);
       CMSISMat<ROWS, COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_scale_f32(&a.matrix, scale, &c.matrix));
       return c;
   }
   
   template <uint16_t A_ROWS, uint16_t A_COLS, uint16_t B_ROWS, uint16_t B_COLS>
   inline CMSISMat<A_ROWS, B_COLS> operator*(
       const CMSISMat<A_ROWS, A_COLS> &a,
       const CMSISMat<B_ROWS, B_COLS> &b)
   {
       static_assert(A_COLS == B_ROWS, "Invalid size of CMSISMat matricies in operator*");
   
       CMSISMat<A_ROWS, B_COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_mult_f32(&a.matrix, &b.matrix, &c.matrix));
       return c;
   }
   
   template <uint16_t ROWS, uint16_t COLS>
   inline CMSISMat<ROWS, COLS> operator*(const CMSISMat<ROWS, COLS> &a, float b)
   {
       CMSISMat<ROWS, COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_scale_f32(&a.matrix, b, &c.matrix));
       return c;
   }
   
   template <uint16_t ROWS, uint16_t COLS>
   inline CMSISMat<ROWS, COLS> operator*(float b, const CMSISMat<ROWS, COLS> &a)
   {
       CMSISMat<ROWS, COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_scale_f32(&a.matrix, b, &c.matrix));
       return c;
   }
   
   template <uint16_t ROWS, uint16_t COLS>
   inline CMSISMat<ROWS, COLS> operator/(const CMSISMat<ROWS, COLS> &a, float b)
   {
       b = 1 / b;
       CMSISMat<ROWS, COLS> c;
       assert(ARM_MATH_SUCCESS == arm_mat_scale_f32(&a.matrix, b, &c.matrix));
       return c;
   }
   
   }  // namespace tap::algorithms
   
   #endif  // TAPROOT_CMSIS_MAT_HPP_