4d_ObstacleRadarDroneCAN/math/light_matrix.h

/******************************************************************************
 * Copyright 2020 The Firmament Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#ifndef LIGHT_MATRIX__
#define LIGHT_MATRIX__

#ifdef __cplusplus
extern "C" {
#endif

#include "rtthread.h"
#include "stddef.h"

#define MAT_TYPE float
#define MAT_MALLOC rt_malloc
#define MAT_FREE rt_free
#define MAT_PRINTF rt_kprintf
#define MAT_ASSERT RT_ASSERT

enum {
  MAT_EOK = 0,  /**< There is no error */
  MAT_ERROR,    /**< A generic error happens */
  MAT_ETIMEOUT, /**< Timed out */
  MAT_EFULL,    /**< The resource is full */
  MAT_EEMPTY,   /**< The resource is empty */
  MAT_ENOMEM,   /**< No memory */
  MAT_ENOSYS,   /**< No system */
  MAT_EBUSY,    /**< Busy */
  MAT_EIO,      /**< IO error */
  MAT_EINTR,    /**< Interrupted system call */
  MAT_EINVAL,   /**< Invalid argument */
};

typedef struct {
  size_t row, col;
  MAT_TYPE** element;
  MAT_TYPE* buffer;
} Mat;

/**
 * @brief 创建一个 mat 对象
 * 
 * @param row mat 行数
 * @param col mat 列数
 * @return Mat* 返回 mat 对象指针, NULL 表示创建失败
 */
Mat* MatNew(int row, int col);

/**
 * @brief 释放 mat 对象
 * 
 * @param mat 
 */
void MatDelete(Mat* mat);

void MatInit(Mat *mat, int row, int col, MAT_TYPE *pdata);

int MatSetVal(Mat* mat, MAT_TYPE* val);
void MatDump(const Mat* mat);

int MatZeros(Mat* mat);
int MatEye(Mat* mat);

int MatAdd(Mat* src1, Mat* src2, Mat* dst);
int MatSub(Mat* src1, Mat* src2, Mat* dst);
int MatMul(Mat* src1, Mat* src2, Mat* dst);
int MatTrans(Mat* src, Mat* dst);
MAT_TYPE MatDet(Mat* mat);
int MatAdj(Mat* src, Mat* dst);

MAT_TYPE MatNorm(Mat* mat);
int MatEig(Mat* mat, MAT_TYPE* eig_val, Mat* eig_vec, MAT_TYPE eps, int njt);

int MatCopy(Mat* src, Mat* dst);

int MatLuDecomp(Mat* const matIn, Mat* matL, Mat* matU, Mat* matP);

int MatInvByLu(Mat* const A, Mat* inv);

int MatInv(Mat *src, Mat *dst);

#ifdef __cplusplus
}
#endif

#endif