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Added attitude determination

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dario
2024-06-18 01:05:08 +02:00
parent 570685b0bb
commit dec530a7df
6 changed files with 301 additions and 99 deletions
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86
include/sta/math/linalg/matrix.hpp
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@@ -5,62 +5,60 @@
namespace sta
{
namespace math
{
struct matrix
{
namespace math
{
float * datafield = nullptr;
uint8_t * shape = nullptr;
struct matrix
{
matrix();
matrix(const matrix&);
matrix(uint8_t, uint8_t);
matrix(uint8_t, uint8_t, float*);
~matrix();
float * datafield = nullptr;
uint8_t * shape = nullptr;
bool is_valid();
matrix();
matrix(const matrix&);
matrix(uint8_t, uint8_t);
matrix(uint8_t, uint8_t, float*);
~matrix();
uint16_t get_size();
uint8_t get_rows();
uint8_t get_cols();
bool is_valid();
matrix clone();
void show_serial();
void show_shape();
uint16_t get_size();
uint8_t get_rows();
uint8_t get_cols();
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);
matrix clone();
void show_serial();
void show_shape();
static matrix eye(uint8_t);
static matrix zeros(uint8_t, uint8_t);
static matrix full(uint8_t, uint8_t, float);
float operator()(uint8_t, uint8_t);
float operator[](uint16_t);
uint16_t get_idx(uint8_t, uint8_t);
matrix& operator=(matrix);
void reshape(uint8_t, uint8_t);
matrix T();
matrix flatten();
float minor(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);
matrix operator*(float);
matrix operator*(matrix);
matrix operator+(matrix);
matrix operator-(matrix);
static matrix eye(uint8_t);
static matrix zeros(uint8_t, uint8_t);
static matrix full(uint8_t, uint8_t, float);
};
float operator()(uint8_t, uint8_t);
float operator[](uint16_t);
uint16_t get_idx(uint8_t, uint8_t);
} // namespace math
matrix T();
matrix flatten();
float minor(uint8_t, uint8_t);
matrix operator*(float);
matrix operator*(matrix);
matrix operator+(matrix);
matrix operator-(matrix);
};
} // namespace math
} // namespace sta
#endif /* INC_MATRIX_HPP_ */