matrix_3x3 Struct Reference

#include <vector_3.h>

Collaboration diagram for matrix_3x3:

Public Member Functions
void	set_to_identity ()
void	debug (PGM_P const title)

Static Public Member Functions
static matrix_3x3	create_from_rows (const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2)
static matrix_3x3	create_look_at (const vector_3 &target)
static matrix_3x3	transpose (const matrix_3x3 &original)

Public Attributes
abc_float_t	vectors [3]

Member Function Documentation

create_from_rows()

matrix_3x3 matrix_3x3::create_from_rows ( const vector_3 &  row_0, const vector_3 &  row_1, const vector_3 &  row_2  )

static

                                                                                                           {
  //row_0.debug(PSTR("row_0"));
  //row_1.debug(PSTR("row_1"));
  //row_2.debug(PSTR("row_2"));
  matrix_3x3 new_matrix;
  new_matrix.vectors[0] = row_0;
  new_matrix.vectors[1] = row_1;
  new_matrix.vectors[2] = row_2;
  //new_matrix.debug(PSTR("new_matrix"));
  return new_matrix;
}

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create_look_at()

matrix_3x3 matrix_3x3::create_look_at ( const vector_3 &  target )

static

                                                            {
  const vector_3 z_row = target.get_normal(),
                 x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
                 y_row = vector_3::cross(z_row, x_row).get_normal();
 
  // x_row.debug(PSTR("x_row"));
  // y_row.debug(PSTR("y_row"));
  // z_row.debug(PSTR("z_row"));
 
  // create the matrix already correctly transposed
  matrix_3x3 rot = matrix_3x3::create_from_rows(x_row, y_row, z_row);
 
  // rot.debug(PSTR("rot"));
  return rot;
}

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transpose()

matrix_3x3 matrix_3x3::transpose ( const matrix_3x3 &  original )

static

                                                           {
  matrix_3x3 new_matrix;
  for (uint8_t i = 0; i < 3; i++)
    for (uint8_t j = 0; j < 3; j++)
      new_matrix.vectors[i][j] = original.vectors[j][i];
  return new_matrix;
}

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set_to_identity()

void matrix_3x3::set_to_identity

(

)

                                 {
  for (uint8_t i = 0; i < 3; i++)
    for (uint8_t j = 0; j < 3; j++)
      vectors[i][j] = float(i == j);
}

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debug()

void matrix_3x3::debug

(

PGM_P const

title

)

                                        {
  if (title != nullptr) {
    serialprintPGM(title);
    SERIAL_EOL();
  }
  for (uint8_t i = 0; i < 3; i++) {
    for (uint8_t j = 0; j < 3; j++) {
      if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
      SERIAL_ECHO_F(vectors[i][j], 6);
      SERIAL_CHAR(' ');
    }
    SERIAL_EOL();
  }
}

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Member Data Documentation

vectors

abc_float_t matrix_3x3::vectors[3]