Add matrix and kf code

include/sta/math/linalg/linalg.hpp

@@ -0,0 +1,32 @@
+#ifndef INC_LINALG_HPP_
+#define INC_LINALG_HPP_
+#include <sta/math/linalg/matrix.hpp>
+
+namespace math 
+{
+namespace linalg 
+{
+
+matrix dot(matrix, matrix);
+float norm(matrix);
+matrix normalize(matrix);
+matrix cross(matrix, matrix);
+matrix skew_symmetric(matrix);
+matrix add(matrix, matrix);
+matrix subtract(matrix, matrix);
+matrix dot(matrix, float);
+matrix cof(matrix);
+matrix adj(matrix);
+
+matrix inv(matrix);
+
+matrix inv_adj(matrix);
+matrix inv_char_poly(matrix);
+matrix inv_schur_dec(matrix);
+
+matrix _inv_char_poly_3x3(matrix);
+matrix _inv_char_poly_2x2(matrix);
+
+}
+}
+#endif /* INC_LINALG_HPP_ */

include/sta/math/linalg/matrix.hpp

@@ -0,0 +1,60 @@
+#ifndef INC_MATRIX_HPP_
+#define INC_MATRIX_HPP_
+#include <cstdint>
+
+namespace math
+{
+    
+struct matrix 
+{
+
+    float * datafield = nullptr;
+    uint8_t * shape = nullptr;
+
+    matrix();
+    matrix(const matrix&);
+    matrix(uint8_t, uint8_t);
+    matrix(uint8_t, uint8_t, float*);
+    ~matrix();
+
+    bool is_valid();
+
+    uint16_t get_size();
+    uint8_t get_rows();
+    uint8_t get_cols();
+
+    matrix clone();
+    void show_serial();
+    void show_shape();
+
+    matrix& operator=(matrix);
+    void reshape(uint8_t, uint8_t);
+    
+    float det();
+    matrix get_block(uint8_t, uint8_t, uint8_t, uint8_t);
+    void set_block(uint8_t, uint8_t, matrix);
+    void set(uint8_t, uint8_t, float);
+    void set(uint16_t, float);
+    matrix get_submatrix(uint8_t, uint8_t);
+
+    static matrix eye(uint8_t);
+    static matrix zeros(uint8_t, uint8_t);
+    
+    float operator()(uint8_t, uint8_t);
+    float operator[](uint16_t);
+    uint16_t get_idx(uint8_t, uint8_t);
+
+    matrix T();
+    matrix flatten();
+    float minor(uint8_t, uint8_t);
+
+    matrix operator*(float);
+    matrix operator*(matrix);
+    matrix operator+(matrix);
+    matrix operator-(matrix);
+
+};
+
+
+}
+#endif /* INC_MATRIX_HPP_ */