1 /* 2 * Copyright (C) 2011 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 /////////////////////////////////////////////////// 18 // Matrixutils.h 19 // $Id: MatrixUtils.h,v 1.5 2011/05/16 15:33:06 mbansal Exp $ 20 21 22 #ifndef MATRIX_UTILS_H 23 #define MATRIX_UTILS_H 24 25 /* Simple class for 3x3 matrix, mainly used to convert from 9x1 26 * to 3x3 27 */ 28 class Matrix33 { 29 public: 30 31 /** 32 * Empty constructor 33 */ 34 Matrix33() { 35 initialize(); 36 } 37 38 /** 39 * Constructor with identity initialization 40 * Arguments: 41 * identity: Specifies wether to initialize matrix to 42 * identity or zeros 43 */ 44 Matrix33(bool identity) { 45 initialize(identity); 46 } 47 48 /** 49 * Initialize to identity matrix 50 */ 51 void initialize(bool identity = false) { 52 mat[0][1] = mat[0][2] = mat[1][0] = mat[1][2] = mat[2][0] = mat[2][1] = 0.0; 53 if (identity) { 54 mat[0][0] = mat[1][1] = mat[2][2] = 1.0; 55 } else { 56 mat[0][0] = mat[1][1] = mat[2][2] = 0.0; 57 } 58 } 59 60 /** 61 * Conver ta 9x1 matrix to a 3x3 matrix 62 */ 63 static void convert9to33(double out[3][3], double in[9]) { 64 out[0][0] = in[0]; 65 out[0][1] = in[1]; 66 out[0][2] = in[2]; 67 68 out[1][0] = in[3]; 69 out[1][1] = in[4]; 70 out[1][2] = in[5]; 71 72 out[2][0] = in[6]; 73 out[2][1] = in[7]; 74 out[2][2] = in[8]; 75 76 } 77 78 /* Matrix data */ 79 double mat[3][3]; 80 81 }; 82 83 /* Simple class for 9x1 matrix, mainly used to convert from 3x3 84 * to 9x1 85 */ 86 class Matrix9 { 87 public: 88 89 /** 90 * Empty constructor 91 */ 92 Matrix9() { 93 initialize(); 94 } 95 96 /** 97 * Constructor with identity initialization 98 * Arguments: 99 * identity: Specifies wether to initialize matrix to 100 * identity or zeros 101 */ 102 Matrix9(bool identity) { 103 initialize(identity); 104 } 105 106 /** 107 * Initialize to identity matrix 108 */ 109 void initialize(bool identity = false) { 110 mat[1] = mat[2] = mat[3] = mat[5] = mat[6] = mat[7] = 0.0; 111 if (identity) { 112 mat[0] = mat[4] = mat[8] = 1.0; 113 } else { 114 mat[0] = mat[4] = mat[8] = 0.0; 115 } 116 } 117 118 /** 119 * Conver ta 3x3 matrix to a 9x1 matrix 120 */ 121 static void convert33to9(double out[9], double in[3][3]) { 122 out[0] = in[0][0]; 123 out[1] = in[0][1]; 124 out[2] = in[0][2]; 125 126 out[3] = in[1][0]; 127 out[4] = in[1][1]; 128 out[5] = in[1][2]; 129 130 out[6] = in[2][0]; 131 out[7] = in[2][1]; 132 out[8] = in[2][2]; 133 134 } 135 136 /* Matrix data */ 137 double mat[9]; 138 139 }; 140 141 #endif 142
